mlsanityData to 14 Oct 2026

Zero-Shot Transfer of Force Map Estimation Across GelSight Mini Sensors

arXiv 2608.18240 ↗First posted 18 Aug 2026cs.CV cs.ROcited by 0

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Abstract (arXiv)

Despite the rapid industrialization of the touch sensor manufacturing process, most of these sensors are still handmade in research laboratories. This complicates standardizing their performance, requiring the repetition of data collection and training models for each unit produced. To address this problem, this paper presents a method that can generalize the estimation of 3D force maps across different GelSight Mini sensor units, regardless of the sensor version. Specifically, the method consists of two stages: a domain adaptation stage, in which the input tactile image is reconstructed as a general tactile image using a UniT-based model; and a stage for estimating 3D force maps employing a U-Net network. Our proposal achieves promising results in both steps, such as an SSIM of 0.9338 +- 0.0358 in the image reconstruction phase and an MAE_F of 1.1294 +- 1.5934(N) in the force estimation phase.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 13 of its 14 references that are in the map. First posted on arXiv 18 Aug 2026.

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References · 13

  1. 2015U-Net: Convolutional Networks for Biomedical Image Segmentationcited by 19,713
  2. 2021Masked Autoencoders Are Scalable Vision Learnerscited by 7,403
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  7. 2023Self-Supervised Learning from Images with a Joint-Embedding Predictive Architecturecited by 1,039
  8. 2024Sparsh: Self-supervised touch representations for vision-based tactile sensingcited by 64
  9. 2024Transferable Tactile Transformers for Representation Learning Across Diverse Sensors and Taskscited by 45
  10. 2024UniT: Data Efficient Tactile Representation with Generalization to Unseen Objectscited by 15
  11. 2023Learn from Incomplete Tactile Data: Tactile Representation Learning with Masked Autoencoderscited by 8
  12. 2024Learning Force Distribution Estimation for the GelSight Mini Optical Tactile Sensor Based on Finite Element Analysiscited by 4
1 more
  1. 2024Grasping Force Estimation for Markerless Visuotactile Sensorscited by 1

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