# Towards Generalization of Tactile Image Generation: Reference-Free Evaluation in a Leakage-Free Setting

arXiv: https://arxiv.org/abs/2503.06860 · HTML: https://mlsanity.com/paper/2503.06860/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 40 of its 53 references that are in the map.
- First posted on arXiv 10 Mar 2025.

## Builds on (most cited first, 30 of 40)

- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [The Unreasonable Effectiveness of Deep Features as a Perceptual Metric](https://mlsanity.com/paper/1801.03924/) (2018)
- [Diffusion Models Beat GANs on Image Synthesis](https://mlsanity.com/paper/2105.05233/) (2021)
- [Representation Learning with Contrastive Predictive Coding](https://mlsanity.com/paper/1807.03748/) (2018)
- [Self-Consistency Improves Chain of Thought Reasoning in Language Models](https://mlsanity.com/paper/2203.11171/) (2022)
- [Image-to-Image Translation with Conditional Adversarial Networks](https://mlsanity.com/paper/1611.07004/) (2016)
- [Demystifying MMD GANs](https://mlsanity.com/paper/1801.01401/) (2018)
- [High-Resolution Image Synthesis and Semantic Manipulation with Conditional GANs](https://mlsanity.com/paper/1711.11585/) (2017)
- [Text2Video-Zero: Text-to-Image Diffusion Models are Zero-Shot Video Generators](https://mlsanity.com/paper/2303.13439/) (2023)
- [Unsupervised Image-to-Image Translation Networks](https://mlsanity.com/paper/1703.00848/) (2017)
- [Rethinking FID: Towards a Better Evaluation Metric for Image Generation](https://mlsanity.com/paper/2401.09603/) (2023)
- [Versatile Diffusion: Text, Images and Variations All in One Diffusion Model](https://mlsanity.com/paper/2211.08332/) (2022)
- [DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor with Application to In-Hand Manipulation](https://mlsanity.com/paper/2005.14679/) (2020)
- [RAPHAEL: Text-to-Image Generation via Large Mixture of Diffusion Paths](https://mlsanity.com/paper/2305.18295/) (2023)
- [Diff-Foley: Synchronized Video-to-Audio Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2306.17203/) (2023)
- [More Than a Feeling: Learning to Grasp and Regrasp using Vision and Touch](https://mlsanity.com/paper/1805.11085/) (2018)
- [Binding Touch to Everything: Learning Unified Multimodal Tactile Representations](https://mlsanity.com/paper/2401.18084/) (2024)
- [Touch and Go: Learning from Human-Collected Vision and Touch](https://mlsanity.com/paper/2211.12498/) (2022)
- [A Touch, Vision, and Language Dataset for Multimodal Alignment](https://mlsanity.com/paper/2402.13232/) (2024)
- [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)
- [Dexterity from Touch: Self-Supervised Pre-Training of Tactile Representations with Robotic Play](https://mlsanity.com/paper/2303.12076/) (2023)
- [Robot Synesthesia: In-Hand Manipulation with Visuotactile Sensing](https://mlsanity.com/paper/2312.01853/) (2023)
- [Taxim: An Example-based Simulation Model for GelSight Tactile Sensors](https://mlsanity.com/paper/2109.04027/) (2021)
- [Sound to Visual Scene Generation by Audio-to-Visual Latent Alignment](https://mlsanity.com/paper/2303.17490/) (2023)
- [VQ-GNN: A Universal Framework to Scale up Graph Neural Networks using Vector Quantization](https://mlsanity.com/paper/2110.14363/) (2021)
- [Self-Supervised Visuo-Tactile Pretraining to Locate and Follow Garment Features](https://mlsanity.com/paper/2209.13042/) (2022)
- [Active Clothing Material Perception using Tactile Sensing and Deep Learning](https://mlsanity.com/paper/1711.00574/) (2017)

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

- [Seeing Through Touch: Tactile-Driven Visual Localization of Material Regions](https://mlsanity.com/paper/2604.11579/) (2026)

## Abstract (arXiv)

Tactile sensing, which relies on direct physical contact, is critical for human perception and underpins applications in computer vision, robotics, and multimodal learning. Because tactile data is often scarce and costly to acquire, generating synthetic tactile images provides a scalable solution to augment real-world measurements. However, ensuring robust generalization in synthesizing tactile images-capturing subtle, material-specific contact features-remains challenging. We demonstrate that overlapping training and test samples in commonly used datasets inflate performance metrics, obscuring the true generalizability of tactile models. To address this, we propose a leakage-free evaluation protocol coupled with novel, reference-free metrics-TMMD, I-TMMD, CI-TMMD, and D-TMMD-tailored for tactile generation. Moreover, we propose a vision-to-touch generation method that leverages text as an intermediate modality by incorporating concise, material-specific descriptions during training to better capture essential tactile features. Experiments on two popular visuo-tactile datasets, Touch and Go and HCT, show that our approach achieves superior performance and enhanced generalization in a leakage-free setting.