mlsanityData to 7 Oct 2026

Event-Driven Visual-Tactile Sensing and Learning for Robots

arXiv 2009.07083 ↗First posted 15 Sep 2020cs.ROcited by 27

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Abstract (arXiv)

This work contributes an event-driven visual-tactile perception system, comprising a novel biologically-inspired tactile sensor and multi-modal spike-based learning. Our neuromorphic fingertip tactile sensor, NeuTouch, scales well with the number of taxels thanks to its event-based nature. Likewise, our Visual-Tactile Spiking Neural Network (VT-SNN) enables fast perception when coupled with event sensors. We evaluate our visual-tactile system (using the NeuTouch and Prophesee event camera) on two robot tasks: container classification and rotational slip detection. On both tasks, we observe good accuracies relative to standard deep learning methods. We have made our visual-tactile datasets freely-available to encourage research on multi-modal event-driven robot perception, which we believe is a promising approach towards intelligent power-efficient robot systems.

Key facts. Cited by 27 papers in the map (data through 7 Oct 2026). First posted on arXiv 15 Sep 2020.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 7; 2022: 7; 2023: 3; 2024: 2; 2025: 5; 2026: 3.

27 papers.

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  1. 2021EventDrop: data augmentation for event-based learningcited by 28
  2. 2021A Spiking Neural Network for Image Segmentationcited by 27
  3. 2022Play it by Ear: Learning Skills amidst Occlusion through Audio-Visual Imitation Learningcited by 22
  4. 2022Are High-Resolution Event Cameras Really Needed?cited by 18
  5. 2025Dexterous Manipulation through Imitation Learning: A Surveycited by 18
  6. 2021Multi-Modal Mutual Information (MuMMI) Training for Robust Self-Supervised Deep Reinforcement Learningcited by 13
  7. 2022DenseTact: Optical Tactile Sensor for Dense Shape Reconstructioncited by 13
  8. 2022Visuo-Haptic Object Perception for Robots: An Overviewcited by 12
  9. 2023Evetac: An Event-based Optical Tactile Sensor for Robotic Manipulationcited by 12
  10. 2021A soft thumb-sized vision-based sensor with accurate all-round force perceptioncited by 9
  11. 2023Industrial Internet of Things Intelligence Empowering Smart Manufacturing: A Literature Reviewcited by 8
  12. 2024EvSegSNN: Neuromorphic Semantic Segmentation for Event Datacited by 7
15 more
  1. 2021Extended Tactile Perception: Vibration Sensing through Tools and Grasped Objectscited by 4
  2. 2023Fully Spiking Neural Network for Legged Robotscited by 4
  3. 2026E-VLA: Event-Augmented Vision-Language-Action Model for Dark and Blurred Scenescited by 4
  4. 2025Combined Physics and Event Camera Simulator for Slip Detectioncited by 3
  5. 2021BioGrad: Biologically Plausible Gradient-Based Learning for Spiking Neural Networkscited by 2
  6. 2021Multimodal perception for dexterous manipulationcited by 2
  7. 2022Event-Driven Tactile Learning with Location Spiking Neuronscited by 1
  8. 2025Robotic Perception with a Large Tactile-Vision-Language Model for Physical Property Inferencecited by 1
  9. 2025Population-Coded Spiking Neural Networks for High-Dimensional Robotic Controlcited by 1
  10. 2022Boost Event-Driven Tactile Learning with Location Spiking Neuronscited by 0
  11. 2022Exploring Tradeoffs in Spiking Neural Networkscited by 0
  12. 2024A Neuromorphic Approach to Obstacle Avoidance in Robot Manipulationcited by 0
  13. 2025PoseDiff: A Unified Diffusion Model Bridging Robot Pose Estimation and Video-to-Action Controlcited by 0
  14. 2026ATOM-Bench: A Real-World Benchmark for Atomic Skills and Compositional Generalization in Manipulation Policiescited by 0
  15. 2026ANTShapes Benchmarking Datasets for Event-Based Neuromorphic Object Classificationcited by 0