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When Does Touch Matter? Charting the Vision-Interaction Gap in Cluttered Dexterous Grasping

arXiv · AI, language, vision and robotics · article · Sep 21, 2026 · UTC

Dexterous grasping in clutter poses a basic sensing question: when do tactile measurements and external wrench estimates improve on visual geometry? Occlusion and contact can obscure grasp quality, motivating a controlled evaluation of these interaction signals. We present a controlled real-world study over five tabletop scene conditions on a dexterous system that combines vision, per-finger and wrist wrench estimates, and distributed fingertip taxels. With demonstrations, visual observations, action space, and compliant control fixed, we compare vision-only, wrench, taxel, and combined polici

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