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.
Gelsight: High-resolution robot tactile sensors for estimating geometry and force
11 Pith papers cite this work, alongside 1,111 external citations. Polarity classification is still indexing.
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A tactile system recovers 6-DoF object pose from one contact pair by coarse-to-fine localization of point clouds on a known model followed by normal-aware SVD.
Whole-hand tactile coverage and per-taxel force/torque dominate sensor type and resolution for learning three dexterous tasks in a new high-throughput tactile simulator.
Tactile-WAM with TAAM improves mean success rate by 38.9% overall and 86% on contact-rich tasks on ManiFeel by using VideoClean mask and touch-aware bias to prevent tactile pollution in world action models.
Tac-DINO constructs a large tactile dataset and Vis-Tac Holographic Matching Benchmark, then proposes Vision-Tactile Patch Alignment (VTPA) methods that outperform non-aligned baselines on local-to-global feature matching.
MiTaS fuses multi-resolution tactile data from GelSight and Evetac sensors with vision using modality-specific stems and transformer fusion to condition flow-matching policies, reporting 80% average success on five contact-rich tasks versus 31-54% baselines.
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.
VBT-MPC performs robotic contour following by running MPC directly in vision-based tactile contour feature space and is tested on varied geometries in simulation and real experiments.
MagicSim is a unified embodied interaction infrastructure built on a deterministic batched runtime and shared MDP that supports diverse world construction, execution, task evaluation, automatic rollout generation, and interactive agent interfaces.
FlexiTac is a scalable piezoresistive tactile sensing system with flexible FPC-Velostat-FPC pads and a 100 Hz multi-channel readout board that mounts on rigid or soft grippers and supports visuo-tactile learning.
Soft growing robots map unknown 2D environments by characterizing collision deformations, building a geometry-based simulator, and using Monte Carlo sampling to select optimal deployments that approach ideal actions.
citing papers explorer
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RCT: A Robot-Collected Touch-Vision-Language Dataset for Tactile Generalization
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.
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You Only Touch Once: 6-DoF Object Pose Estimation from Single Tactile Contact
A tactile system recovers 6-DoF object pose from one contact pair by coarse-to-fine localization of point clouds on a known model followed by normal-aware SVD.
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Tactile Genesis: Exploring Tactile Sensors at Scale for Learning Dexterous Tasks
Whole-hand tactile coverage and per-taxel force/torque dominate sensor type and resolution for learning three dexterous tasks in a new high-throughput tactile simulator.
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Tactile-WAM: Touch-Aware World Action Model with Tactile Asymmetric Attention
Tactile-WAM with TAAM improves mean success rate by 38.9% overall and 86% on contact-rich tasks on ManiFeel by using VideoClean mask and touch-aware bias to prevent tactile pollution in world action models.
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Tac-DINO: Learning Vision-Tactile Features with Patch Alignment
Tac-DINO constructs a large tactile dataset and Vis-Tac Holographic Matching Benchmark, then proposes Vision-Tactile Patch Alignment (VTPA) methods that outperform non-aligned baselines on local-to-global feature matching.
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Multi-Resolution Tactile Imitation Learning for Contact-Rich Robotic Manipulation
MiTaS fuses multi-resolution tactile data from GelSight and Evetac sensors with vision using modality-specific stems and transformer fusion to condition flow-matching policies, reporting 80% average success on five contact-rich tasks versus 31-54% baselines.
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Tabero: Learning Gentle Manipulation with Closed-Loop Force Feedback from Vision, Touch, and Language
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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VBT-MPC: Vision-Based Tactile MPC for Contour Following
VBT-MPC performs robotic contour following by running MPC directly in vision-based tactile contour feature space and is tested on varied geometries in simulation and real experiments.
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MagicSim: A Unified Infrastructure for Executable Embodied Interaction
MagicSim is a unified embodied interaction infrastructure built on a deterministic batched runtime and shared MDP that supports diverse world construction, execution, task evaluation, automatic rollout generation, and interactive agent interfaces.
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FlexiTac: A Low-Cost, Open-Source, Scalable Tactile Sensing Solution for Robotic Systems
FlexiTac is a scalable piezoresistive tactile sensing system with flexible FPC-Velostat-FPC pads and a 100 Hz multi-channel readout board that mounts on rigid or soft grippers and supports visuo-tactile learning.
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Linking Exteroception and Proprioception through Improved Contact Modeling for Soft Growing Robots
Soft growing robots map unknown 2D environments by characterizing collision deformations, building a geometry-based simulator, and using Monte Carlo sampling to select optimal deployments that approach ideal actions.