Tactile Beyond Pixels: Multisensory Touch Representations for Robot Manipulation

Description

We present Sparsh-X, the first multisensory touch representations across four tactile modalities: image, audio, motion, and pressure. Trained on ~1M contact-rich interactions collected with the Digit 360 sensor, Sparsh-X captures complementary touch signals at diverse temporal and spatial scales. By leveraging self-supervised learning, Sparsh-X fuses these modalities into a unified representation that captures physical properties useful for robot manipulation tasks. We study how to effectively i

Source