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Tactile-Guided Robot Learning: From Representation Learning to Foundation Models

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Embodied robot learning — abstract watchKiyanoush Nazari, Luchen Li, Haoshu Fang, Nima Fazeli, Zhibin Li, Fumiya Iida A, Thomas George ThuruthelOctober 14, 2026
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Frontier AI

Tactile sensing is becoming central to robust, adaptive, and dexterous robotic manipulation. Beyond its traditional role in contact detection and reactive control, touch is increasingly used to learn transferable representations, condition manipulation policies, and support embodied physical reasoning. Yet existing surveys largely emphasize tactile hardware and perception, leaving the rapid shift toward learning-based tactile manipulation insufficiently synthesized. This paper reviews tactile-guided skill learning from a learning-centric perspective, organized by the functional role of touch a

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