mlsanityData to 7 Oct 2026

DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor with Application to In-Hand Manipulation

arXiv 2005.14679 ↗First posted 29 May 2020cs.RO cs.LG cs.SYcited by 164

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Abstract (arXiv)

Despite decades of research, general purpose in-hand manipulation remains one of the unsolved challenges of robotics. One of the contributing factors that limit current robotic manipulation systems is the difficulty of precisely sensing contact forces -- sensing and reasoning about contact forces are crucial to accurately control interactions with the environment. As a step towards enabling better robotic manipulation, we introduce DIGIT, an inexpensive, compact, and high-resolution tactile sensor geared towards in-hand manipulation. DIGIT improves upon past vision-based tactile sensors by miniaturizing the form factor to be mountable on multi-fingered hands, and by providing several design improvements that result in an easier, more repeatable manufacturing process, and enhanced reliability. We demonstrate the capabilities of the DIGIT sensor by training deep neural network model-based controllers to manipulate glass marbles in-hand with a multi-finger robotic hand. To provide the robotic community access to reliable and low-cost tactile sensors, we open-source the DIGIT design at https://digit.ml/.

Key facts. Cited by 164 papers in the map (data through 7 Oct 2026). First posted on arXiv 29 May 2020.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2020: 1; 2021: 12; 2022: 14; 2023: 18; 2024: 34; 2025: 41; 2026: 44.

164 papers.

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  1. 2024Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AIcited by 175
  2. 2022Masked World Models for Visual Controlcited by 169
  3. 2025Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulationcited by 103
  4. 2024Binding Touch to Everything: Learning Unified Multimodal Tactile Representationscited by 94
  5. 2023General In-Hand Object Rotation with Vision and Touchcited by 87
  6. 2022Touch and Go: Learning from Human-Collected Vision and Touchcited by 84
  7. 2025Vision-Language-Action Models for Robotics: A Review Towards Real-World Applicationscited by 82
  8. 2022DexPoint: Generalizable Point Cloud Reinforcement Learning for Sim-to-Real Dexterous Manipulationcited by 78
  9. 2023Rotating without Seeing: Towards In-hand Dexterity through Touchcited by 78
  10. 2022ObjectFolder 2.0: A Multisensory Object Dataset for Sim2Real Transfercited by 73
  11. 2024A Touch, Vision, and Language Dataset for Multimodal Alignmentcited by 68
  12. 2021ObjectFolder: A Dataset of Objects with Implicit Visual, Auditory, and Tactile Representationscited by 67
38 more
  1. 20243D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensingcited by 67
  2. 2022Theseus: A Library for Differentiable Nonlinear Optimizationcited by 64
  3. 2020Model-Based Inverse Reinforcement Learning from Visual Demonstrationscited by 52
  4. 2023Robot Synesthesia: In-Hand Manipulation with Visuotactile Sensingcited by 51
  5. 2025AnyTouch: Learning Unified Static-Dynamic Representation across Multiple Visuo-tactile Sensorscited by 46
  6. 2024Transferable Tactile Transformers for Representation Learning Across Diverse Sensors and Taskscited by 44
  7. 2025VLA-Touch: Enhancing Vision-Language-Action Models with Dual-Level Tactile Feedbackcited by 37
  8. 2021GelSight Wedge: Measuring High-Resolution 3D Contact Geometry with a Compact Robot Fingercited by 34
  9. 2021Active 3D Shape Reconstruction from Vision and Touchcited by 34
  10. 2024A Survey of Embodied Learning for Object-Centric Robotic Manipulationcited by 34
  11. 2021ReSkin: versatile, replaceable, lasting tactile skinscited by 33
  12. 2024The Essential Role of Causality in Foundation World Models for Embodied AIcited by 32
  13. 2024Multimodal Visual-Tactile Representation Learning through Self-Supervised Contrastive Pre-Trainingcited by 30
  14. 2023Neural feels with neural fields: Visuo-tactile perception for in-hand manipulationcited by 28
  15. 2024Tactile-Augmented Radiance Fieldscited by 26
  16. 2023The Power of the Senses: Generalizable Manipulation from Vision and Touch through Masked Multimodal Learningcited by 24
  17. 2024AnySkin: Plug-and-play Skin Sensing for Robotic Touchcited by 22
  18. 2024AnyRotate: Gravity-Invariant In-Hand Object Rotation with Sim-to-Real Touchcited by 18
  19. 2024RoboPack: Learning Tactile-Informed Dynamics Models for Dense Packingcited by 18
  20. 2021Tactile Sim-to-Real Policy Transfer via Real-to-Sim Image Translationcited by 17
  21. 2023Learning to Read Braille: Bridging the Tactile Reality Gap with Diffusion Modelscited by 17
  22. 2025A Survey of Robotic Navigation and Manipulation with Physics Simulators in the Era of Embodied AIcited by 16
  23. 2023TouchSDF: A DeepSDF Approach for 3D Shape Reconstruction using Vision-Based Tactile Sensingcited by 15
  24. 2024Hierarchical State Space Models for Continuous Sequence-to-Sequence Modelingcited by 15
  25. 2021Towards Learning to Play Piano with Dexterous Hands and Touchcited by 14
  26. 2024Hearing Touch: Audio-Visual Pretraining for Contact-Rich Manipulationcited by 14
  27. 2025Learning to Feel the Future: DreamTacVLA for Contact-Rich Manipulationcited by 14
  28. 2022DenseTact: Optical Tactile Sensor for Dense Shape Reconstructioncited by 13
  29. 2022Neural Contact Fields: Tracking Extrinsic Contact with Tactile Sensingcited by 13
  30. 2023Visual-Tactile Sensing for In-Hand Object Reconstructioncited by 13
  31. 2024Learning In-Hand Translation Using Tactile Skin With Shear and Normal Force Sensingcited by 13
  32. 2025PolyTouch: A Robust Multi-Modal Tactile Sensor for Contact-rich Manipulation Using Tactile-Diffusion Policiescited by 13
  33. 2022TANDEM: Learning Joint Exploration and Decision Making with Tactile Sensorscited by 12
  34. 2022Visuo-Haptic Object Perception for Robots: An Overviewcited by 12
  35. 2023Evetac: An Event-based Optical Tactile Sensor for Robotic Manipulationcited by 12
  36. 2024Snap-it, Tap-it, Splat-it: Tactile-Informed 3D Gaussian Splatting for Reconstructing Challenging Surfacescited by 12
  37. 2023AcTExplore: Active Tactile Exploration of Unknown Objectscited by 11
  38. 2024TextToucher: Fine-Grained Text-to-Touch Generationcited by 11

50 most cited of 164 All 164 (JSON)