mlsanityData to 7 Oct 2026

VitaTouch: Property-Aware Vision-Tactile-Language Model for Robotic Quality Inspection in Manufacturing

arXiv 2604.03322 ↗First posted 2 Apr 2026cs.CV cs.AI cs.ROcited by 1

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Abstract (arXiv)

Quality inspection in smart manufacturing requires identifying intrinsic material and surface properties beyond visible geometry, yet vision-only methods remain vulnerable to occlusion and reflection. We propose VitaTouch, a property-aware vision-tactile-language model for material-property inference and natural-language attribute description. VitaTouch uses modality-specific encoders and a dual Q-Former to extract language-relevant visual and tactile features, which are compressed into prefix tokens for a large language model. We align each modality with text and explicitly couple vision and touch through contrastive learning. We also construct VitaSet, a multimodal dataset with 186 objects, 52k images, and 5.1k human-verified instruction-answer pairs. VitaTouch achieves the best performance on HCT and the overall TVL benchmark, while remaining competitive on SSVTP. On VitaSet, it reaches 88.89% hardness accuracy, 75.13% roughness accuracy, and 54.81% descriptor recall; the material-description task further achieves a peak semantic similarity of 0.9009. With LoRA-based fine-tuning, VitaTouch attains 100.0%, 96.0%, and 92.0% accuracy for 2-, 3-, and 5-category defect recognition, respectively, and delivers 94.0% closed-loop recognition accuracy and 94.0% end-to-end sorting success in 100 laboratory robotic trials. More details are available at the project page: https://vitatouch.github.io/

Key facts. Cited by 1 paper in the map (data through 7 Oct 2026). Builds on 27 of its 48 references that are in the map. First posted on arXiv 2 Apr 2026.

Builds on

27 of 48 references.

References · 27

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15 more
  1. 2023WinCLIP: Zero-/Few-Shot Anomaly Classification and Segmentationcited by 311
  2. 2023AnomalyCLIP: Object-agnostic Prompt Learning for Zero-shot Anomaly Detectioncited by 270
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  12. 2025AnyTouch: Learning Unified Static-Dynamic Representation across Multiple Visuo-tactile Sensorscited by 46
  13. 2024Octopi: Object Property Reasoning with Large Tactile-Language Modelscited by 45
  14. 2023Robotic Defect Inspection with Visual and Tactile Perception for Large-scale Componentscited by 4
  15. 2025Resilient Multimodal Industrial Surface Defect Detection with Uncertain Sensors Availabilitycited by 1

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2026: 1.

1 paper.

  1. 2026Touch-R1: Reinforcing Touch Reasoning in MLLMscited by 0