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simmediummanipulation-datametric · varies
UniForce: A Unified Latent Force Model for Robot Manipulation with Diverse Tactile Sensors
Description
Force sensing is essential for dexterous robot manipulation, but scaling force-aware policy learning is hindered by the heterogeneity of tactile sensors. Differences in sensing principles (e.g., optical vs. magnetic), form factors, and materials typically require sensor-specific data collection, calibration, and model training, thereby limiting generalisability. We propose UniForce, a novel unified tactile representation learning framework that learns a shared latent force space across diverse t