Temporal Visuo-Tactile Learning for Dexterous Grasp Stability
Ken Nakahara, Aleksei Buvailik, Prokhor Kotov, Roberto Calandra
Abstract
Humans can grasp everyday objects with almost perfect success rates using fingertip tactile feedback, yet much of the robotic grasping literature emphasizes vision-based grasp selection with parallel grippers. In this work, we systematically investigate how high-resolution, dynamic tactile sensing contributes to grasp stability prediction and model-guided grasping in dexterous robotic hands. To this end, we collected a dataset of 10,000 grasp trials across 200 objects using a multi-fingered robotic hand equipped with four Digit 360 tactile sensors, recording external vision, proprioception, and tactile streams throughout each grasp. With this dataset, we trained end-to-end temporal multimodal models to predict post-lift stability from pre-lift grasp observations and compared sensing modalities and encoding backbones. Experimental results and controlled input ablations show that incorporating touch, and particularly high-resolution, dynamic touch, improves grasp stability prediction. Finally, we deployed the learned predictor as an online stability gate on the real robot, where visuo-tactile model-guided regrasping improved the success rate among executed lifts by 10.5 percentage points over a non-tactile gate. These results show how rich fingertip sensing and expressive temporal models that capture the dynamics of touch can support learned grasping with multi-fingered hands without explicit contact or force modeling, providing a scalable data-driven path from tactile experience toward stable dexterous manipulation. The dataset is publicly available at https://lasr-lab.github.io/dexterous-grasp-stability/.