mlsanityData to 7 Oct 2026

ReSkin: versatile, replaceable, lasting tactile skins

arXiv 2111.00071 ↗First posted 29 Oct 2021cs.RO cs.AIcited by 33

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Abstract (arXiv)

Soft sensors have continued growing interest in robotics, due to their ability to enable both passive conformal contact from the material properties and active contact data from the sensor properties. However, the same properties of conformal contact result in faster deterioration of soft sensors and larger variations in their response characteristics over time and across samples, inhibiting their ability to be long-lasting and replaceable. ReSkin is a tactile soft sensor that leverages machine learning and magnetic sensing to offer a low-cost, diverse and compact solution for long-term use. Magnetic sensing separates the electronic circuitry from the passive interface, making it easier to replace interfaces as they wear out while allowing for a wide variety of form factors. Machine learning allows us to learn sensor response models that are robust to variations across fabrication and time, and our self-supervised learning algorithm enables finer performance enhancement with small, inexpensive data collection procedures. We believe that ReSkin opens the door to more versatile, scalable and inexpensive tactile sensation modules than existing alternatives.

Key facts. Cited by 33 papers in the map (data through 7 Oct 2026). Builds on 10 of its 36 references that are in the map. First posted on arXiv 29 Oct 2021.

Builds on

10 of 36 references.

References · 10

  1. 2020A Simple Framework for Contrastive Learning of Visual Representationscited by 11,979
  2. 2015FaceNet: A Unified Embedding for Face Recognition and Clusteringcited by 2,833
  3. 2020DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor with Application to In-Hand Manipulationcited by 164
  4. 2018More Than a Feeling: Learning to Grasp and Regrasp using Vision and Touchcited by 100
  5. 2017The Feeling of Success: Does Touch Sensing Help Predict Grasp Outcomes?cited by 65
  6. 2018GelSlim: A High-Resolution, Compact, Robust, and Calibrated Tactile-sensing Fingercited by 50
  7. 2014Unsupervised Learning of Spatiotemporally Coherent Metricscited by 45
  8. 2021GelSight Wedge: Measuring High-Resolution 3D Contact Geometry with a Compact Robot Fingercited by 34
  9. 2015Slow and steady feature analysis: higher order temporal coherence in videocited by 28
  10. 2018Robust Learning of Tactile Force Estimation through Robot Interactioncited by 7

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 3; 2023: 9; 2024: 8; 2025: 8; 2026: 5.

33 papers.

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  1. 2025Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulationcited by 103
  2. 2023On Bringing Robots Homecited by 101
  3. 2022DexPoint: Generalizable Point Cloud Reinforcement Learning for Sim-to-Real Dexterous Manipulationcited by 78
  4. 2023Rotating without Seeing: Towards In-hand Dexterity through Touchcited by 78
  5. 2023Dexterity from Touch: Self-Supervised Pre-Training of Tactile Representations with Robotic Playcited by 60
  6. 2023See to Touch: Learning Tactile Dexterity through Visual Incentivescited by 33
  7. 2023The Power of the Senses: Generalizable Manipulation from Vision and Touch through Masked Multimodal Learningcited by 24
  8. 2022PressureVision: Estimating Hand Pressure from a Single RGB Imagecited by 23
  9. 2024AnySkin: Plug-and-play Skin Sensing for Robotic Touchcited by 22
  10. 2024EgoPressure: A Dataset for Hand Pressure and Pose Estimation in Egocentric Visioncited by 18
  11. 2025A Survey of Robotic Navigation and Manipulation with Physics Simulators in the Era of Embodied AIcited by 16
  12. 2023DEFT: Dexterous Fine-Tuning for Real-World Hand Policiescited by 15
21 more
  1. 2024Hearing Touch: Audio-Visual Pretraining for Contact-Rich Manipulationcited by 14
  2. 2024Learning In-Hand Translation Using Tactile Skin With Shear and Normal Force Sensingcited by 13
  3. 2025PolyTouch: A Robust Multi-Modal Tactile Sensor for Contact-rich Manipulation Using Tactile-Diffusion Policiescited by 13
  4. 2023PressureVision++: Estimating Fingertip Pressure from Diverse RGB Imagescited by 12
  5. 2023Evetac: An Event-based Optical Tactile Sensor for Robotic Manipulationcited by 12
  6. 2024Learning Precise, Contact-Rich Manipulation through Uncalibrated Tactile Skinscited by 11
  7. 2022All the Feels: A dexterous hand with large-area tactile sensingcited by 7
  8. 2025OSMO: Open-Source Tactile Glove for Human-to-Robot Skill Transfercited by 6
  9. 2023TactoFind: A Tactile Only System for Object Retrievalcited by 5
  10. 2025eFlesh: Highly customizable Magnetic Touch Sensing using Cut-Cell Microstructurescited by 4
  11. 2026FlexiTac: A Low-Cost, Open-Source, Scalable Tactile Sensing Solution for Robotic Systemscited by 4
  12. 2024Imagine2touch: Predictive Tactile Sensing for Robotic Manipulation using Efficient Low-Dimensional Signalscited by 2
  13. 2025DexSkin: High-Coverage Conformable Robotic Skin for Learning Contact-Rich Manipulationcited by 2
  14. 2026Seeing Touch from Motion: A Unified Modality-Aware Visuo-Tactile Policy with Tactile Motion Correlationcited by 2
  15. 2025Task-Optimized Convolutional Recurrent Networks Align with Tactile Processing in the Rodent Braincited by 1
  16. 2024PseudoTouch: Efficiently Imaging the Surface Feel of Objects for Robotic Manipulationcited by 0
  17. 2024An Active Learning Framework with a Class Balancing Strategy for Time Series Classificationcited by 0
  18. 2025ControlTac: Scaling Tactile Data with Physically Controlled Tactile Image Generationcited by 0
  19. 2026Dense Force Estimation with an Event-based Optical Tactile Sensorcited by 0
  20. 2026The Potential of Haptic Foundation Modelscited by 0
  21. 2026Tactile-JEPA: Topology-Aware Self-Supervised Representation Learning for Distributed Tactile Sensorscited by 0