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simmediummanipulationmetric · varies
AnyTouch 2: General Optical Tactile Representation Learning For Dynamic Tactile Perception
Description
Real-world contact-rich manipulation demands robots to perceive temporal tactile feedback, capture subtle surface deformations, and reason about object properties as well as force dynamics. Although optical tactile sensors are uniquely capable of providing such rich information, existing tactile datasets and models remain limited. These resources primarily focus on object-level attributes (e.g., material) while largely overlooking fine-grained tactile temporal dynamics during physical interactio