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XRoboToolKit-T: Teleoperation with High Stability and Precision with Tactile Sensing for Contact-rich Manipulation

arXiv · AI, language, vision and robotics · article · Sep 14, 2026 · UTC

Collecting high-quality robot data for contact-rich manipulation tasks is essential for enabling robots to acquire real-world skills. However, existing data collection solutions often lack the capability to obtain stable and high-frequency tactile feedback, limiting their effectiveness in contact-rich manipulation scenarios. In this work, we propose a versatile teleoperation system with tactile-driven assistance to enable high-frequency and stable contact-rich manipulation. The proposed XRoboToolKit-T teleoperation system incorporates a tactile-informed force control architecture, designed to

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