Heterogeneous Tactile Transformer

arXiv:2606.29948 · cs.RO · Submitted 2026-06-29 · Read on arXiv

cs.RO

Submitted: 2026-06-29

Updated: 2026-10-13

Terminology

• Transformer — 3× in this paper · explained in 2 episodes
• Heterogeneous Tactile Transformer — 2× in this paper
• Alignment — 1× in this paper · explained in 1 episode

Sources

• Digitizing Touch with an Artificial Multimodal Fingertip
• PolyTouch: A Robust Multi-Modal Tactile Sensor for Contact-rich Manipulation Using Tactile-Diffusion Policies
• Touch and Go: Learning from Human-Collected Vision and Touch
• Self-Supervised Visuo-Tactile Pretraining to Locate and Follow Garment Features
• Beyond Sight: Finetuning Generalist Robot Policies with Heterogeneous Sensors via Language Grounding
• Tactile Beyond Pixels: Multisensory Touch Representations for Robot Manipulation
• UniTac-NV: A Unified Tactile Representation For Non-Vision-Based Tactile Sensors
• Investigating Vision Foundational Models for Tactile Representation Learning
• UniForce: A Unified Latent Force Model for Robot Manipulation with Diverse Tactile Sensors
• ManiFeel: Benchmarking and Understanding Visuotactile Manipulation Policy Learning

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