Self-Supervised Anchoring of Fingertip Sensing to Proprioception and Proactive Actions for Robot Imitation Learning

Tomohiro Motoda; Masaki Murooka; Keisuke Shirai; Hanbit Oh; Ryoichi Nakajo; Shotaro Miwa; Roman Mykhailyshyn; Hugo Duarte; Yukiyasu Domae

arXiv · 2609.29822

Self-Supervised Anchoring of Fingertip Sensing to Proprioception and Proactive Actions for Robot Imitation Learning

Tomohiro Motoda·Masaki Murooka·Keisuke Shirai·Hanbit Oh·Ryoichi Nakajo·Shotaro Miwa·Roman Mykhailyshyn·Hugo Duarte·Yukiyasu Domae

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Abstract

Robotic imitation learning often relies on external cameras, yet local interaction cues such as object proximity, contact onset, and grasp state are difficult to observe near the fingertips because of occlusion and limited temporal resolution. We study how to effectively incorporate complementary fingertip sensing into imitation learning using pressure-sensitive tactile and reflective proximity sensors, along with pretrained sensor encoders. The two modalities provide information at different manipulation phases: proximity sensing is informative before contact, whereas tactile sensing becomes informative after contact. However, naively adding these signals to a policy does not consistently improve performance and can even underperform vision-only policies, suggesting that sparse, phase-dependent sensor signals are difficult to exploit from limited demonstrations. We therefore propose a proprioception-anchored pretraining method, PROprioceptive-and-PRoactive Anchoring (PROPRA), which independently aligns each fingertip sensor history with proprioceptive and action segments. This provides a continuously available sensorimotor reference, allowing each sensor to be aligned independently during its informative phases. Experiments on real-world manipulation tasks show that our pretraining method improves average success rates over vision-only policies and image-anchored pretraining baselines. Representation analysis further shows that it preserves richer information about pre-contact states, enabling more effective use of complementary fingertip sensing. Please refer to our project page: https://tomohiromotoda.github.io/nia.propra/

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Tomohiro Motoda, Masaki Murooka, Keisuke Shirai, Hanbit Oh, Ryoichi Nakajo, Shotaro Miwa, Roman Mykhailyshyn, Hugo Duarte, Yukiyasu Domae. 2026-09-24. Self-Supervised Anchoring of Fingertip Sensing to Proprioception and Proactive Actions for Robot Imitation Learning. https://arxiv.org/abs/2609.29822

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