# Let Robots Feel Your Touch: Visuo-Tactile Cortical Alignment for Embodied Mirror Resonance

arXiv: https://arxiv.org/abs/2605.14571 · HTML: https://mlsanity.com/paper/2605.14571/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 12 of its 38 references that are in the map.
- First posted on arXiv 14 May 2026.

## Builds on (most cited first, 12 of 12)

- [Representation Learning with Contrastive Predictive Coding](https://mlsanity.com/paper/1807.03748/) (2018)
- [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)
- [3D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensing](https://mlsanity.com/paper/2410.24091/) (2024)
- [Sparsh: Self-supervised touch representations for vision-based tactile sensing](https://mlsanity.com/paper/2410.24090/) (2024)
- [AnyTouch: Learning Unified Static-Dynamic Representation across Multiple Visuo-tactile Sensors](https://mlsanity.com/paper/2502.12191/) (2025)
- [Visuo-Tactile Transformers for Manipulation](https://mlsanity.com/paper/2210.00121/) (2022)
- [VLA-Touch: Enhancing Vision-Language-Action Models with Dual-Level Tactile Feedback](https://mlsanity.com/paper/2507.17294/) (2025)
- [OmniVTA: Visuo-Tactile World Modeling for Contact-Rich Robotic Manipulation](https://mlsanity.com/paper/2603.19201/) (2026)
- [VITaL Pretraining: Visuo-Tactile Pretraining for Tactile and Non-Tactile Manipulation Policies](https://mlsanity.com/paper/2403.11898/) (2024)
- [CushSense: Soft, Stretchable, and Comfortable Tactile-Sensing Skin for Physical Human-Robot Interaction](https://mlsanity.com/paper/2405.03155/) (2024)
- [Embedding high-resolution touch across robotic hands enables adaptive human-like grasping](https://mlsanity.com/paper/2412.14482/) (2024)
- [Simultaneous Tactile-Visual Perception for Learning Multimodal Robot Manipulation](https://mlsanity.com/paper/2512.09851/) (2025)

## Abstract (arXiv)

Observing touch on another's body can elicit corresponding tactile sensations in the observer, a phenomenon termed mirror touch that supports empathy and social perception. This visuo-tactile resonance is thought to rely on structural correspondence between visual and somatosensory cortices, yet robotic systems lack computational frameworks that instantiate this principle. Here we demonstrate that cortical correspondence can be operationalized to endow robots with mirror touch. We introduce Mirror Touch Net, which imposes semantic, distributional and geometric alignment between visual and tactile representations through multi-level constraints, enabling prediction of millimetre-scale tactile signals across 1,140 taxels on a robotic hand from RGB images. Manifold analysis reveals that these constraints reshape visual representations into geometry consistent with the tactile manifold, reducing the complexity of cross-modal mapping. Extending this alignment framework to cross-domain observations of human hands enables tactile prediction and reflexive responses to observed human touch. Our results link a neural principle of visuo-tactile resonance to robotic perception, providing an explainable route towards anticipatory touch and empathic human-robot interaction. Code is available at https://github.com/fun0515/Mirror-Touch-Net.