RGB-S projects tactile contacts onto images as force-modulated Gaussian saliency maps via kinematics and zero-initialized conditioning, raising real-world occluded dexterous manipulation success by 26.7 percentage points over implicit baselines.
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RGB-S: Image-Aligned Tactile Saliency for Robust Dexterous Manipulation
RGB-S projects tactile contacts onto images as force-modulated Gaussian saliency maps via kinematics and zero-initialized conditioning, raising real-world occluded dexterous manipulation success by 26.7 percentage points over implicit baselines.