זיכרון תפיסתי עם רובוט רך: חדירה של עצמים רכים באמצעות קודים מסוגרים וזרוע רכה

תקציר מקורי באנגליתarXiv:2601.19275v2 Announce Type: replace-cross Abstract: Tactile memory, the ability to store and retrieve touch-based experience, is critical for contact-rich tasks such as key insertion under uncertainty. To replicate this capability, we introduce Tactile Memory with Soft Robot (TaMeSo-bot), a system that integrates a soft wrist with tactile retrieval-based control to enable safe and robust manipulation. The soft wrist allows safe contact exploration during data collection, while tactile memory reuses past demonstrations via retrieval for flexible adaptation to unseen scenarios. The core of this system is the Masked Tactile Trajectory Transformer (MAT$^\text{3}$), which jointly models spatiotemporal interactions between robot actions, distributed tactile cues, force-torque measurements,