RCT dataset with sequence-preserving splits demonstrates that tactile-to-text models achieve only 25.1% Recall@1 on held-out materials, exposing generalization as the core challenge.
TACTO: A fast, flexible, and open- source simulator for high-resolution vision-based tactile sensors.IEEE Robotics and Automation Letters (RA- L), 7(2):3930–3937
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A Sim2Real2Sim learning pipeline enables a real-world dexterous robot to play piano pieces including Happy Birthday and Ode to Joy with an average F1-score of 0.881.
Tabero supplies a data pipeline that turns existing robot trajectories into vision-tactile-language tasks and a VTLA model that keeps task success high while cutting average grip force by over 70 percent under gentle instructions.
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Learning to Play Piano in the Real World
A Sim2Real2Sim learning pipeline enables a real-world dexterous robot to play piano pieces including Happy Birthday and Ode to Joy with an average F1-score of 0.881.