Vision-Tactile Fusion for Grasping in 2D: Side-View Sensor Blend

A robot gripper must find an object it cannot yet touch. An overhead camera gives a continuous but noisy, occasionally-occluded, possibly-miscalibrated horizontal position estimate; a tactile sensor on the fingertip gives a precise estimate the instant it makes contact, but is blind until then. This side-view 2D rendition draws the full sense-approach-contact-grasp cycle as a vertical descent against a horizontal position axis, fuses both estimates by inverse-variance weighting, and adds a scrolling error trace plus a per-trial error-bar history so you can watch exactly how fast each strategy converges — not just whether the final trial succeeded. Compare a fused strategy against relying on either sensor alone and see how grasp success rate responds to noise, calibration bias and occlusion.