@misc{li2026tacgoosebumpstacgbretrofittingnormalonly,
  title={TacGooseBumps (TacGB): Retrofitting Normal-Only Tactile Sensors with Shear Encoding for Learning Contact-Rich Manipulation},
  author={Wenjie Li and Binyu Yang and Yuxin Chen and Ambrose Wang and Masayoshi Tomizuka},
  year={2026},
  eprint={2609.34006},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2609.34006},
}