# Transformer in Touch: A Survey

arXiv: https://arxiv.org/abs/2405.12779 · HTML: https://mlsanity.com/paper/2405.12779/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 21 May 2024.

## Built on by (most cited first, 1 of 1)

- [Tactile-based Multimodal Fusion in Embodied Intelligence: A Survey of Vision, Language, and Contact-Driven Paradigms](https://mlsanity.com/paper/2605.17336/) (2026)

## Abstract (arXiv)

The Transformer model, initially achieving significant success in the field of natural language processing, has recently shown great potential in the application of tactile perception. This review aims to comprehensively outline the application and development of Transformers in tactile technology. We first introduce the two fundamental concepts behind the success of the Transformer: the self-attention mechanism and large-scale pre-training. Then, we delve into the application of Transformers in various tactile tasks, including but not limited to object recognition, cross-modal generation, and object manipulation, offering a concise summary of the core methodologies, performance benchmarks, and design highlights. Finally, we suggest potential areas for further research and future work, aiming to generate more interest within the community, tackle existing challenges, and encourage the use of Transformer models in the tactile field.