mlsanityData to 13 Oct 2026

Cross-Sensor Touch Generation

arXiv 2510.09817 ↗First posted 10 Oct 2025cs.RO cs.CVcited by 2

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Abstract (arXiv)

Today's visuo-tactile sensors come in many shapes and sizes, making it challenging to develop general-purpose tactile representations. This is because most models are tied to a specific sensor design. To address this challenge, we propose two approaches to cross-sensor image generation. The first is an end-to-end method that leverages paired data (Touch2Touch). The second method builds an intermediate depth representation and does not require paired data (T2D2: Touch-to-Depth-to-Touch). Both methods enable the use of sensor-specific models across multiple sensors via the cross-sensor touch generation process. Together, these models offer flexible solutions for sensor translation, depending on data availability and application needs. We demonstrate their effectiveness on downstream tasks such as in-hand pose estimation and behavior cloning, successfully transferring models trained on one sensor to another. Project page: https://samantabelen.github.io/cross_sensor_touch_generation.

Key facts. Cited by 2 papers in the map (data through 13 Oct 2026). Builds on 41 of its 48 references that are in the map. First posted on arXiv 10 Oct 2025.

Builds on

41 of 48 references.

References · 41

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,950
  2. 2021High-Resolution Image Synthesis with Latent Diffusion Modelscited by 18,777
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29 more
  1. 2022Imagic: Text-Based Real Image Editing with Diffusion Modelscited by 1,176
  2. 2023ImageBind: One Embedding Space To Bind Them Allcited by 1,168
  3. 2021Blended Diffusion for Text-driven Editing of Natural Imagescited by 926
  4. 2017Toward Controlled Generation of Textcited by 272
  5. 2020DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor with Application to In-Hand Manipulationcited by 165
  6. 2023Diff-Foley: Synchronized Video-to-Audio Synthesis with Latent Diffusion Modelscited by 133
  7. 2018More Than a Feeling: Learning to Grasp and Regrasp using Vision and Touchcited by 101
  8. 2024Binding Touch to Everything: Learning Unified Multimodal Tactile Representationscited by 95
  9. 2022Touch and Go: Learning from Human-Collected Vision and Touchcited by 86
  10. 2016Scribbler: Controlling Deep Image Synthesis with Sketch and Colorcited by 77
  11. 2019Connecting Touch and Vision via Cross-Modal Predictioncited by 66
  12. 2024Sparsh: Self-supervised touch representations for vision-based tactile sensingcited by 63
  13. 2018GelSlim: A High-Resolution, Compact, Robust, and Calibrated Tactile-sensing Fingercited by 51
  14. 2025AnyTouch: Learning Unified Static-Dynamic Representation across Multiple Visuo-tactile Sensorscited by 48
  15. 2024Transferable Tactile Transformers for Representation Learning Across Diverse Sensors and Taskscited by 44
  16. 2023The ObjectFolder Benchmark: Multisensory Learning with Neural and Real Objectscited by 40
  17. 2021GelSlim3.0: High-Resolution Measurement of Shape, Force and Slip in a Compact Tactile-Sensing Fingercited by 39
  18. 2022MidasTouch: Monte-Carlo inference over distributions across sliding touchcited by 33
  19. 2023Generating Visual Scenes from Touchcited by 26
  20. 2024Tactile-Augmented Radiance Fieldscited by 26
  21. 2021Active Extrinsic Contact Sensing: Application to General Peg-in-Hole Insertioncited by 17
  22. 2023Learning to Read Braille: Bridging the Tactile Reality Gap with Diffusion Modelscited by 17
  23. 2019Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulationcited by 15
  24. 2022DenseTact: Optical Tactile Sensor for Dense Shape Reconstructioncited by 13
  25. 2023Visual-Tactile Sensing for In-Hand Object Reconstructioncited by 13
  26. 2022Manipulation via Membranes: High-Resolution and Highly Deformable Tactile Sensing and Controlcited by 5
  27. 2024Contrastive Touch-to-Touch Pretrainingcited by 5
  28. 2023Sim2Real Bilevel Adaptation for Object Surface Classification using Vision-Based Tactile Sensorscited by 4
  29. 2024Tactile Neural De-renderingcited by 1

Built on by

Cited by year (2026 to 13 Oct)

Citing papers per year: 2026: 2.

2 papers.

  1. 2026Tac-DINO: Learning Vision-Tactile Features with Patch Alignmentcited by 1
  2. 2026Language-Guided Representation Learning for Robust Cross-Sensor Material Recognitioncited by 0