[Submitted on 7 Oct 2026]
Title:TacHair: Tactile Contact-Distribution Guided Online Correction for Robotic Hair Stroking and Perception
View a PDF of the paper titled TacHair: Tactile Contact-Distribution Guided Online Correction for Robotic Hair Stroking and Perception, by Ruiyi Hu and 5 other authors
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Abstract:Hair stroking is common in daily grooming and personal care, and is also widely used in hair-product evaluation, motivating robots with similar physical interaction capabilities. Existing robotic hair-care and surface-following methods mainly rely on trajectory planning, compliance, force regulation, or tactile-conditioned policies, but deformable hair can remain in contact while gradually drifting across the end-effector, making local interaction difficult to regulate. We propose TacHair, a tactile contact-distribution guided online correction framework that represents high-resolution tactile observations as a spatial hair-contact distribution. A visuotactile imitation policy generates the nominal stroking motion, while a separately trained residual module corrects local contact deviations, separating task progression from contact recovery. We evaluate TacHair in 525 real-robot trials across five head geometries and three hair conditions. A successful stroke requires both sufficient task progression and contact maintenance; our method improves success from 42.9% to 62.3% and contact maintenance from 59.4% to 88.0% over the same visuotactile policy without correction. These results demonstrate spatial tactile contact distributions as an effective feedback representation for contact-preserving interaction with deformable and visually occluded surfaces. Demos, code, and datasets are available at this https URL.
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2610.10637 [cs.RO]
(or arXiv:2610.10637v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2610.10637
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Yongqiang Zhao [view email] [v1] Wed, 7 Oct 2026 14:20:13 UTC (3,104 KB)
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