# RETRO: REthinking Tactile Representation Learning with Material PriOrs

arXiv: https://arxiv.org/abs/2505.14319 · HTML: https://mlsanity.com/paper/2505.14319/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 48 of its 67 references that are in the map.
- First posted on arXiv 20 May 2025.

## Builds on (most cited first, 30 of 48)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [Distilling the Knowledge in a Neural Network](https://mlsanity.com/paper/1503.02531/) (2015)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [Representation Learning with Contrastive Predictive Coding](https://mlsanity.com/paper/1807.03748/) (2018)
- [Generative Adversarial Networks](https://mlsanity.com/paper/2203.00667/) (2022)
- [Adding Conditional Control to Text-to-Image Diffusion Models](https://mlsanity.com/paper/2302.05543/) (2023)
- [Image-to-Image Translation with Conditional Adversarial Networks](https://mlsanity.com/paper/1611.07004/) (2016)
- [IP-Adapter: Text Compatible Image Prompt Adapter for Text-to-Image Diffusion Models](https://mlsanity.com/paper/2308.06721/) (2023)
- [ImageBind: One Embedding Space To Bind Them All](https://mlsanity.com/paper/2305.05665/) (2023)
- [Improved Precision and Recall Metric for Assessing Generative Models](https://mlsanity.com/paper/1904.06991/) (2019)
- [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)
- [Single-Image SVBRDF Capture with a Rendering-Aware Deep Network](https://mlsanity.com/paper/1810.09718/) (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)
- [Learning Indoor Inverse Rendering with 3D Spatially-Varying Lighting](https://mlsanity.com/paper/2109.06061/) (2021)
- [ObjectFolder 2.0: A Multisensory Object Dataset for Sim2Real Transfer](https://mlsanity.com/paper/2204.02389/) (2022)
- [A Touch, Vision, and Language Dataset for Multimodal Alignment](https://mlsanity.com/paper/2402.13232/) (2024)
- [ObjectFolder: A Dataset of Objects with Implicit Visual, Auditory, and Tactile Representations](https://mlsanity.com/paper/2109.07991/) (2021)
- [See, Hear, and Feel: Smart Sensory Fusion for Robotic Manipulation](https://mlsanity.com/paper/2212.03858/) (2022)
- [The Feeling of Success: Does Touch Sensing Help Predict Grasp Outcomes?](https://mlsanity.com/paper/1710.05512/) (2017)
- [TACTO: A Fast, Flexible, and Open-source Simulator for High-Resolution Vision-based Tactile Sensors](https://mlsanity.com/paper/2012.08456/) (2020)
- [Inverse Path Tracing for Joint Material and Lighting Estimation](https://mlsanity.com/paper/1903.07145/) (2019)
- [IRISformer: Dense Vision Transformers for Single-Image Inverse Rendering in Indoor Scenes](https://mlsanity.com/paper/2206.08423/) (2022)
- [Modeling Surface Appearance from a Single Photograph using Self-augmented Convolutional Neural Networks](https://mlsanity.com/paper/1809.00886/) (2018)
- [Flexible SVBRDF Capture with a Multi-Image Deep Network](https://mlsanity.com/paper/1906.11557/) (2019)
- [Transferable Tactile Transformers for Representation Learning Across Diverse Sensors and Tasks](https://mlsanity.com/paper/2406.13640/) (2024)
- [DREAM: Visual Decoding from Reversing Human Visual System](https://mlsanity.com/paper/2310.02265/) (2023)
- [MatSynth: A Modern PBR Materials Dataset](https://mlsanity.com/paper/2401.06056/) (2024)
- [GelSlim3.0: High-Resolution Measurement of Shape, Force and Slip in a Compact Tactile-Sensing Finger](https://mlsanity.com/paper/2103.12269/) (2021)

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

- [Large Language Models and 3D Vision for Intelligent Robotic Perception and Autonomy](https://mlsanity.com/paper/2511.11777/) (2025)

## Abstract (arXiv)

Tactile perception is profoundly influenced by the surface properties of objects in contact. However, despite their crucial role in shaping tactile experiences, these material characteristics have been largely neglected in existing tactile representation learning methods. Most approaches primarily focus on aligning tactile data with visual or textual information, overlooking the richness of tactile feedback that comes from understanding the materials' inherent properties. In this work, we address this gap by revisiting the tactile representation learning framework and incorporating material-aware priors into the learning process. These priors, which represent pre-learned characteristics specific to different materials, allow tactile models to better capture and generalize the nuances of surface texture. Our method enables more accurate, contextually rich tactile feedback across diverse materials and textures, improving performance in real-world applications such as robotics, haptic feedback systems, and material editing.