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Semantic-Contact Fields for Category-Level Generalizable Tactile Tool Manipulation
Description
Generalizing tool manipulation requires both semantic planning and precise physical control. Modern generalist robot policies, such as Vision-Language-Action (VLA) models, often lack the high-fidelity physical grounding required for contact-rich tool manipulation. Conversely, existing contact-aware policies that leverage tactile or haptic sensing are typically instance-specific and fail to generalize across diverse tool geometries. Bridging this gap requires learning unified contact representati