# See, Hear, and Feel: Smart Sensory Fusion for Robotic Manipulation

arXiv: https://arxiv.org/abs/2212.03858 · HTML: https://mlsanity.com/paper/2212.03858/

## Key facts

- Cited by 68 papers in the map (data through 14 Oct 2026).
- Builds on 45 of its 68 references that are in the map.
- First posted on arXiv 7 Dec 2022.

## Builds on (most cited first, 30 of 45)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [Grad-CAM: Visual Explanations from Deep Networks via Gradient-based Localization](https://mlsanity.com/paper/1610.02391/) (2016)
- [Hierarchical Text-Conditional Image Generation with CLIP Latents](https://mlsanity.com/paper/2204.06125/) (2022)
- [Neural Machine Translation by Jointly Learning to Align and Translate](https://mlsanity.com/paper/1409.0473/) (2014)
- [Zero-Shot Text-to-Image Generation](https://mlsanity.com/paper/2102.12092/) (2021)
- [VQA: Visual Question Answering](https://mlsanity.com/paper/1505.00468/) (2015)
- [Two-Stream Convolutional Networks for Action Recognition in Videos](https://mlsanity.com/paper/1406.2199/) (2014)
- [Vision-and-Language Navigation: Interpreting visually-grounded navigation instructions in real environments](https://mlsanity.com/paper/1711.07280/) (2017)
- [Learning Dexterous In-Hand Manipulation](https://mlsanity.com/paper/1808.00177/) (2018)
- [Time-Contrastive Networks: Self-Supervised Learning from Video](https://mlsanity.com/paper/1704.06888/) (2017)
- [An Algorithmic Perspective on Imitation Learning](https://mlsanity.com/paper/1811.06711/) (2018)
- [VATT: Transformers for Multimodal Self-Supervised Learning from Raw Video, Audio and Text](https://mlsanity.com/paper/2104.11178/) (2021)
- [Attention Bottlenecks for Multimodal Fusion](https://mlsanity.com/paper/2107.00135/) (2021)
- [Audio-Visual Scene Analysis with Self-Supervised Multisensory Features](https://mlsanity.com/paper/1804.03641/) (2018)
- [ThreeDWorld: A Platform for Interactive Multi-Modal Physical Simulation](https://mlsanity.com/paper/2007.04954/) (2020)
- [Deep Dynamics Models for Learning Dexterous Manipulation](https://mlsanity.com/paper/1909.11652/) (2019)
- [Listen to Look: Action Recognition by Previewing Audio](https://mlsanity.com/paper/1912.04487/) (2019)
- [Making Sense of Vision and Touch: Self-Supervised Learning of Multimodal Representations for Contact-Rich Tasks](https://mlsanity.com/paper/1810.10191/) (2018)
- [MultiBench: Multiscale Benchmarks for Multimodal Representation Learning](https://mlsanity.com/paper/2107.07502/) (2021)
- [A Review of Robot Learning for Manipulation: Challenges, Representations, and Algorithms](https://mlsanity.com/paper/1907.03146/) (2019)
- [More Than a Feeling: Learning to Grasp and Regrasp using Vision and Touch](https://mlsanity.com/paper/1805.11085/) (2018)
- [Making Sense of Vision and Touch: Learning Multimodal Representations for Contact-Rich Tasks](https://mlsanity.com/paper/1907.13098/) (2019)
- [ObjectFolder 2.0: A Multisensory Object Dataset for Sim2Real Transfer](https://mlsanity.com/paper/2204.02389/) (2022)
- [RoboCraft: Learning to See, Simulate, and Shape Elasto-Plastic Objects with Graph Networks](https://mlsanity.com/paper/2205.02909/) (2022)
- [ObjectFolder: A Dataset of Objects with Implicit Visual, Auditory, and Tactile Representations](https://mlsanity.com/paper/2109.07991/) (2021)
- [The Feeling of Success: Does Touch Sensing Help Predict Grasp Outcomes?](https://mlsanity.com/paper/1710.05512/) (2017)
- [Connecting Touch and Vision via Cross-Modal Prediction](https://mlsanity.com/paper/1906.06322/) (2019)
- [Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry](https://mlsanity.com/paper/2104.01167/) (2021)

## Built on by (most cited first, 30 of 68)

- [Binding Touch to Everything: Learning Unified Multimodal Tactile Representations](https://mlsanity.com/paper/2401.18084/) (2024)
- [Multi-Stage Cable Routing through Hierarchical Imitation Learning](https://mlsanity.com/paper/2307.08927/) (2023)
- [AnyTouch: Learning Unified Static-Dynamic Representation across Multiple Visuo-tactile Sensors](https://mlsanity.com/paper/2502.12191/) (2025)
- [Transferable Tactile Transformers for Representation Learning Across Diverse Sensors and Tasks](https://mlsanity.com/paper/2406.13640/) (2024)
- [Beyond Sight: Finetuning Generalist Robot Policies with Heterogeneous Sensors via Language Grounding](https://mlsanity.com/paper/2501.04693/) (2025)
- [The ObjectFolder Benchmark: Multisensory Learning with Neural and Real Objects](https://mlsanity.com/paper/2306.00956/) (2023)
- [MultiPLY: A Multisensory Object-Centric Embodied Large Language Model in 3D World](https://mlsanity.com/paper/2401.08577/) (2024)
- [MimicTouch: Leveraging Multi-modal Human Tactile Demonstrations for Contact-rich Manipulation](https://mlsanity.com/paper/2310.16917/) (2023)
- [LLM as A Robotic Brain: Unifying Egocentric Memory and Control](https://mlsanity.com/paper/2304.09349/) (2023)
- [Multimodal Visual-Tactile Representation Learning through Self-Supervised Contrastive Pre-Training](https://mlsanity.com/paper/2401.12024/) (2024)
- [ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data](https://mlsanity.com/paper/2406.19464/) (2024)
- [Touch in the Wild: Learning Fine-Grained Manipulation with a Portable Visuo-Tactile Gripper](https://mlsanity.com/paper/2507.15062/) (2025)
- [The Power of the Senses: Generalizable Manipulation from Vision and Touch through Masked Multimodal Learning](https://mlsanity.com/paper/2311.00924/) (2023)
- [AnySkin: Plug-and-play Skin Sensing for Robotic Touch](https://mlsanity.com/paper/2409.08276/) (2024)
- [A Survey of Optimization-based Task and Motion Planning: From Classical To Learning Approaches](https://mlsanity.com/paper/2404.02817/) (2024)
- [Play to the Score: Stage-Guided Dynamic Multi-Sensory Fusion for Robotic Manipulation](https://mlsanity.com/paper/2408.01366/) (2024)
- [RoboPack: Learning Tactile-Informed Dynamics Models for Dense Packing](https://mlsanity.com/paper/2407.01418/) (2024)
- [Learning to Feel the Future: DreamTacVLA for Contact-Rich Manipulation](https://mlsanity.com/paper/2512.23864/) (2025)
- [NeRFs in Robotics: A Survey](https://mlsanity.com/paper/2405.01333/) (2024)
- [Hearing Touch: Audio-Visual Pretraining for Contact-Rich Manipulation](https://mlsanity.com/paper/2405.08576/) (2024)
- [Exploring Embodied Multimodal Large Models: Development, Datasets, and Future Directions](https://mlsanity.com/paper/2502.15336/) (2025)
- [Multi-Modal Manipulation via Multi-Modal Policy Consensus](https://mlsanity.com/paper/2509.23468/) (2025)
- [Learning Precise, Contact-Rich Manipulation through Uncalibrated Tactile Skins](https://mlsanity.com/paper/2410.17246/) (2024)
- [Sim2Real Manipulation on Unknown Objects with Tactile-based Reinforcement Learning](https://mlsanity.com/paper/2403.12170/) (2024)
- [Robotic Compliant Object Prying Using Diffusion Policy Guided by Vision and Force Observations](https://mlsanity.com/paper/2503.03998/) (2025)
- [Multimodal and Force-Matched Imitation Learning with a See-Through Visuotactile Sensor](https://mlsanity.com/paper/2311.01248/) (2023)
- [M2CURL: Sample-Efficient Multimodal Reinforcement Learning via Self-Supervised Representation Learning for Robotic Manipulation](https://mlsanity.com/paper/2401.17032/) (2024)
- [Universal Visuo-Tactile Video Understanding for Embodied Interaction](https://mlsanity.com/paper/2505.22566/) (2025)
- [The Sound of Simulation: Learning Multimodal Sim-to-Real Robot Policies with Generative Audio](https://mlsanity.com/paper/2507.02864/) (2025)
- [ViTaS: Visual Tactile Soft Fusion Contrastive Learning for Visuomotor Learning](https://mlsanity.com/paper/2602.11643/) (2026)

## Abstract (arXiv)

Humans use all of their senses to accomplish different tasks in everyday activities. In contrast, existing work on robotic manipulation mostly relies on one, or occasionally two modalities, such as vision and touch. In this work, we systematically study how visual, auditory, and tactile perception can jointly help robots to solve complex manipulation tasks. We build a robot system that can see with a camera, hear with a contact microphone, and feel with a vision-based tactile sensor, with all three sensory modalities fused with a self-attention model. Results on two challenging tasks, dense packing and pouring, demonstrate the necessity and power of multisensory perception for robotic manipulation: vision displays the global status of the robot but can often suffer from occlusion, audio provides immediate feedback of key moments that are even invisible, and touch offers precise local geometry for decision making. Leveraging all three modalities, our robotic system significantly outperforms prior methods.