# Seeing Through Touch: Tactile-Driven Visual Localization of Material Regions

arXiv: https://arxiv.org/abs/2604.11579 · HTML: https://mlsanity.com/paper/2604.11579/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 36 of its 49 references that are in the map.
- First posted on arXiv 13 Apr 2026.

## Builds on (most cited first, 30 of 36)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [ImageNet Large Scale Visual Recognition Challenge](https://mlsanity.com/paper/1409.0575/) (2014)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [Layer Normalization](https://mlsanity.com/paper/1607.06450/) (2016)
- [Gemini 2.5: Pushing the Frontier with Advanced Reasoning, Multimodality, Long Context, and Next Generation Agentic Capabilities](https://mlsanity.com/paper/2507.06261/) (2025)
- [Masked-attention Mask Transformer for Universal Image Segmentation](https://mlsanity.com/paper/2112.01527/) (2021)
- [DINOv3](https://mlsanity.com/paper/2508.10104/) (2025)
- [ImageBind: One Embedding Space To Bind Them All](https://mlsanity.com/paper/2305.05665/) (2023)
- [Grounded SAM: Assembling Open-World Models for Diverse Visual Tasks](https://mlsanity.com/paper/2401.14159/) (2024)
- [Image Segmentation Using Text and Image Prompts](https://mlsanity.com/paper/2112.10003/) (2021)
- [Gradio: Hassle-Free Sharing and Testing of ML Models in the Wild](https://mlsanity.com/paper/1906.02569/) (2019)
- [Segmenting Transparent Objects in the Wild](https://mlsanity.com/paper/2003.13948/) (2020)
- [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)
- [Localizing Visual Sounds the Easy Way](https://mlsanity.com/paper/2203.09324/) (2022)
- [Material Recognition in the Wild with the Materials in Context Database](https://mlsanity.com/paper/1412.0623/) (2014)
- [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)
- [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)
- [Transferable Tactile Transformers for Representation Learning Across Diverse Sensors and Tasks](https://mlsanity.com/paper/2406.13640/) (2024)
- [The ObjectFolder Benchmark: Multisensory Learning with Neural and Real Objects](https://mlsanity.com/paper/2306.00956/) (2023)
- [Self-Supervised Visuo-Tactile Pretraining to Locate and Follow Garment Features](https://mlsanity.com/paper/2209.13042/) (2022)
- [Sound Source Localization is All about Cross-Modal Alignment](https://mlsanity.com/paper/2309.10724/) (2023)
- [Multimodal Visual-Tactile Representation Learning through Self-Supervised Contrastive Pre-Training](https://mlsanity.com/paper/2401.12024/) (2024)
- [ViT-Lens: Towards Omni-modal Representations](https://mlsanity.com/paper/2311.16081/) (2023)
- [Touch100k: A Large-Scale Touch-Language-Vision Dataset for Touch-Centric Multimodal Representation](https://mlsanity.com/paper/2406.03813/) (2024)
- [Materialistic: Selecting Similar Materials in Images](https://mlsanity.com/paper/2305.13291/) (2023)
- [Tactile-Augmented Radiance Fields](https://mlsanity.com/paper/2405.04534/) (2024)

## Built on by (most cited first, 2 of 2)

- [See & Sniff: Learning Visuo-Olfactory Representations](https://mlsanity.com/paper/2606.27307/) (2026)
- [BIDETA: Brain-Inspired Data-Efficient Tactile Adaptation for Unseen Sensors](https://mlsanity.com/paper/2609.08673/) (2026)

## Abstract (arXiv)

We address the problem of tactile localization, where the goal is to identify image regions that share the same material properties as a tactile input. Existing visuo-tactile methods rely on global alignment and thus fail to capture the fine-grained local correspondences required for this task. The challenge is amplified by existing datasets, which predominantly contain close-up, low-diversity images. We propose a model that learns local visuo-tactile alignment via dense cross-modal feature interactions, producing tactile saliency maps for touch-conditioned material segmentation. To overcome dataset constraints, we introduce: (i) in-the-wild multi-material scene images that expand visual diversity, and (ii) a material-diversity pairing strategy that aligns each tactile sample with visually varied yet tactilely consistent images, improving contextual localization and robustness to weak signals. We also construct two new tactile-grounded material segmentation datasets for quantitative evaluation. Experiments on both new and existing benchmarks show that our approach substantially outperforms prior visuo-tactile methods in tactile localization.