{"id":"https://openalex.org/W7138921995","doi":"https://doi.org/10.1109/lra.2026.3675953","title":"Grasp, Reason, Act: Tactile-Language Model for Zeroshot Sim2real Grasp Stability Prediction and Re-Grasping","display_name":"Grasp, Reason, Act: Tactile-Language Model for Zeroshot Sim2real Grasp Stability Prediction and Re-Grasping","publication_year":2026,"publication_date":"2026-03-19","ids":{"openalex":"https://openalex.org/W7138921995","doi":"https://doi.org/10.1109/lra.2026.3675953"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3675953","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3675953","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5130075512","display_name":"Gang Yan","orcid":null},"institutions":[{"id":"https://openalex.org/I92614990","display_name":"Tokyo University of Agriculture and Technology","ror":"https://ror.org/00qg0kr10","country_code":"JP","type":"education","lineage":["https://openalex.org/I92614990"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Gang Yan","raw_affiliation_strings":["Matsuo-Iwasawa Laboratory, Department of Technology Management for Innovation, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0003-0141-8102","affiliations":[{"raw_affiliation_string":"Matsuo-Iwasawa Laboratory, Department of Technology Management for Innovation, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I92614990"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113226709","display_name":"Jiaxian Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I92614990","display_name":"Tokyo University of Agriculture and Technology","ror":"https://ror.org/00qg0kr10","country_code":"JP","type":"education","lineage":["https://openalex.org/I92614990"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jiaxian Guo","raw_affiliation_strings":["Matsuo-Iwasawa Laboratory, Department of Technology Management for Innovation, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Matsuo-Iwasawa Laboratory, Department of Technology Management for Innovation, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I92614990"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129891327","display_name":"Khrapchenkov Petr","orcid":null},"institutions":[{"id":"https://openalex.org/I92614990","display_name":"Tokyo University of Agriculture and Technology","ror":"https://ror.org/00qg0kr10","country_code":"JP","type":"education","lineage":["https://openalex.org/I92614990"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Khrapchenkov Petr","raw_affiliation_strings":["Matsuo-Iwasawa Laboratory, Department of Technology Management for Innovation, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Matsuo-Iwasawa Laboratory, Department of Technology Management for Innovation, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I92614990"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129937327","display_name":"Zhongchao Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I92614990","display_name":"Tokyo University of Agriculture and Technology","ror":"https://ror.org/00qg0kr10","country_code":"JP","type":"education","lineage":["https://openalex.org/I92614990"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Zhongchao Zhou","raw_affiliation_strings":["Matsuo-Iwasawa Laboratory, Department of Technology Management for Innovation, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-8799-7362","affiliations":[{"raw_affiliation_string":"Matsuo-Iwasawa Laboratory, Department of Technology Management for Innovation, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I92614990"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129830297","display_name":"Yaonan Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I92614990","display_name":"Tokyo University of Agriculture and Technology","ror":"https://ror.org/00qg0kr10","country_code":"JP","type":"education","lineage":["https://openalex.org/I92614990"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yaonan Zhu","raw_affiliation_strings":["Matsuo-Iwasawa Laboratory, Department of Technology Management for Innovation, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-2806-014X","affiliations":[{"raw_affiliation_string":"Matsuo-Iwasawa Laboratory, Department of Technology Management for Innovation, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I92614990"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129901632","display_name":"Iwasawa Yusuke","orcid":null},"institutions":[{"id":"https://openalex.org/I92614990","display_name":"Tokyo University of Agriculture and Technology","ror":"https://ror.org/00qg0kr10","country_code":"JP","type":"education","lineage":["https://openalex.org/I92614990"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Iwasawa Yusuke","raw_affiliation_strings":["Matsuo-Iwasawa Laboratory, Department of Technology Management for Innovation, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Matsuo-Iwasawa Laboratory, Department of Technology Management for Innovation, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I92614990"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109719233","display_name":"Y. Matsuo","orcid":null},"institutions":[{"id":"https://openalex.org/I92614990","display_name":"Tokyo University of Agriculture and Technology","ror":"https://ror.org/00qg0kr10","country_code":"JP","type":"education","lineage":["https://openalex.org/I92614990"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yutaka Matsuo","raw_affiliation_strings":["Matsuo-Iwasawa Laboratory, Department of Technology Management for Innovation, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-2106-8907","affiliations":[{"raw_affiliation_string":"Matsuo-Iwasawa Laboratory, Department of Technology Management for Innovation, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I92614990"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.35852162,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"5","first_page":"5805","last_page":"5812"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.51419997215271,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.51419997215271,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.31540000438690186,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.03449999913573265,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.9158999919891357},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.579200029373169},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.565500020980835},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.550599992275238},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.49939998984336853},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.4821999967098236},{"id":"https://openalex.org/keywords/modality","display_name":"Modality (human\u2013computer interaction)","score":0.4690000116825104},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.42289999127388}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9158999919891357},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.669700026512146},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6661999821662903},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.579200029373169},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.565500020980835},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.550599992275238},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.49939998984336853},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.4821999967098236},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.4690000116825104},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.42289999127388},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.39250001311302185},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.38269999623298645},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.34200000762939453},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.3386000096797943},{"id":"https://openalex.org/C133462117","wikidata":"https://www.wikidata.org/wiki/Q4929239","display_name":"Data collection","level":2,"score":0.3361999988555908},{"id":"https://openalex.org/C107953548","wikidata":"https://www.wikidata.org/wiki/Q1172433","display_name":"Wired glove","level":3,"score":0.30489999055862427},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2818000018596649},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2773999869823456},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.2734000086784363},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.2612999975681305},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.2583000063896179},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.25450000166893005},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.2533999979496002},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.25099998712539673}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3675953","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3675953","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322832","display_name":"University of Tokyo","ror":"https://ror.org/057zh3y96"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W2021473074","https://openalex.org/W2074936002","https://openalex.org/W2169364846","https://openalex.org/W2194775991","https://openalex.org/W2775635818","https://openalex.org/W2804941773","https://openalex.org/W2963048676","https://openalex.org/W2963915174","https://openalex.org/W3041148233","https://openalex.org/W3198417399","https://openalex.org/W3205355686","https://openalex.org/W3206949798","https://openalex.org/W4285211014","https://openalex.org/W4292231110","https://openalex.org/W4312750307","https://openalex.org/W4316661152","https://openalex.org/W4393132157","https://openalex.org/W4402354011","https://openalex.org/W4402726993","https://openalex.org/W4405753643","https://openalex.org/W4405786528","https://openalex.org/W4409395271","https://openalex.org/W4410226436","https://openalex.org/W4413917725","https://openalex.org/W4414587625","https://openalex.org/W4416540826","https://openalex.org/W7081922878","https://openalex.org/W7133233472"],"related_works":[],"abstract_inverted_index":{"Robotic":[0],"tactile":[1,35,79,105,119],"learning":[2],"is":[3],"a":[4,75,124,153],"critical":[5],"research":[6],"area":[7],"for":[8],"enabling":[9,86],"robots":[10],"to":[11,48,92,127],"perform":[12],"complex":[13],"manipulation":[14],"tasks":[15],"with":[16],"human-like":[17],"dexterity":[18],"and":[19,97,114,137],"adaptability.":[20],"However,":[21],"ensuring":[22],"grasp":[23,95,155],"stability":[24,43],"remains":[25],"one":[26],"of":[27,66],"the":[28,46,62],"most":[29],"fundamental":[30],"yet":[31],"challenging":[32],"problems":[33],"in":[34],"sensing.":[36],"Existing":[37],"approaches":[38],"predominantly":[39],"focus":[40],"on":[41,158],"classifying":[42],"outcomes,":[44],"lacking":[45],"ability":[47],"reason":[49],"about":[50],"failure":[51],"modes":[52],"or":[53],"propose":[54],"corrections.":[55,102],"We":[56],"address":[57],"this":[58],"gap":[59],"by":[60],"harnessing":[61],"inherent":[63],"reasoning":[64],"capabilities":[65],"Vision-Language":[67],"Models":[68],"(VLMs).":[69],"To":[70,103],"do":[71],"so,":[72],"we":[73,108],"introduce":[74],"framework":[76],"that":[77,89],"integrates":[78],"modality":[80],"via":[81,123],"Quantized":[82],"Low-Rank":[83],"Adaptation":[84],"(QLoRA),":[85],"parameter-efficient":[87],"fine-tuning":[88],"empowers":[90],"VLMs":[91],"both":[93],"diagnose":[94],"instability":[96],"generate":[98],"actionable,":[99],"natural":[100],"language":[101],"tackle":[104],"data":[106,112],"scarcity,":[107],"develop":[109],"an":[110],"automated":[111],"collection":[113],"annotation":[115],"pipeline":[116],"leveraging":[117],"state-of-the-art":[118],"sensor":[120],"simulation,":[121],"calibrated":[122],"real-to-sim":[125],"procedure":[126],"ensure":[128],"robust":[129],"transfer.":[130],"Extensive":[131],"experiments":[132],"across":[133],"15":[134],"k":[135],"simulated":[136],"400":[138],"real-world":[139],"trials":[140],"demonstrate":[141],"superior":[142],"zero-shot":[143],"sim-to-real":[144],"generalization.":[145],"In":[146],"real-time":[147],"physical":[148],"evaluations,":[149],"our":[150],"approach":[151],"achieves":[152],"95%":[154],"success":[156],"rate":[157],"unseen":[159],"objects,":[160],"significantly":[161],"outperforming":[162],"baselines.":[163]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-03-20T00:00:00"}
