SixthSense infers whole-body contact events and wrenches in humanoids from proprioception and IMU data alone by tokenizing histories and estimating a sparse contact-event flow with conditional flow matching.
Making sense of vision and touch: Learning multimodal representations for contact-rich tasks.IEEE Transactions on Robotics, 36(3):582–596
2 Pith papers cite this work. Polarity classification is still indexing.
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Pith papers citing it
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cs.RO 2years
2026 2verdicts
UNVERDICTED 2representative citing papers
Tube Diffusion Policy learns observation-conditioned feedback flows around nominal action chunks to enable fast reactive control in visual-tactile contact-rich manipulation.
citing papers explorer
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SixthSense: Task-Agnostic Proprioception-Only Whole-Body Wrench Estimation for Humanoids
SixthSense infers whole-body contact events and wrenches in humanoids from proprioception and IMU data alone by tokenizing histories and estimating a sparse contact-event flow with conditional flow matching.
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Tube Diffusion Policy: Reactive Visual-Tactile Policy Learning for Contact-rich Manipulation
Tube Diffusion Policy learns observation-conditioned feedback flows around nominal action chunks to enable fast reactive control in visual-tactile contact-rich manipulation.