Contact-rich manipulation requires robots to sequence precise contacts, maintain stable grasps, and apply directed forces. Reinforcement learning (RL) can acquire such behaviors automatically, but its performance hinges on reward design: sparse rewards reduce the learning efficiency, while dense rewards are hard to specify. Visual reward learning addresses this by inferring rewards from action-free demonstrations. Because it conditions only on visual observations, it fails to capture rewards beyond visual goals. We propose Tactile Reward Learning (TaRL), a framework that learns rewards from tactile demonstrations. TaRL takes a sequence of tactile deformation maps as input, and regresses task-completion progress from both successful and failed demonstrations. Because TaRL captures local robot-object interaction, it provides informative feedback to learn firm grasps and correctly directed forces; meanwhile, it is robust to changes in scene layout such as object position. We evaluate TaRL on four manipulation tasks in simulation and two in the real world. Used as a shaping reward, it substantially improves both sample efficiency and final success rate, raising success on Nut threading from 34% to 56% in simulation and on cube pickup from 37% to 97% in the real world. Combining tactile with visual rewards improves performance further. TaRL also generalizes across object instances: trained on box placement and directly deployed to can placement, it significantly improves policy learning on the new task. Project page is available at https://embodiedai-ntu.github.io/tarl.

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