Tac2Pix: Image-Space Visuo-Tactile Fusion for Dexterous Manipulation

arXiv:2606.08765 · cs.RO, cs.CV · Submitted 2026-06-07 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-06-07

Updated: 2026-09-27

Terminology

• Ablation — 12× in this paper · explained in 1 episode
• Alignment — 11× in this paper · explained in 1 episode
• Calibration — 11× in this paper · explained in 7 episodes
• Robustness — 11× in this paper · explained in 5 episodes
• Grounding — 9× in this paper · explained in 3 episodes
• Transformer — 7× in this paper · explained in 2 episodes
• Late Fusion — 6× in this paper · explained in 2 episodes
• Diffusion Policy — 5× in this paper
• Embeddings — 4× in this paper · explained in 2 episodes
• Aggregation — 3× in this paper · explained in 1 episode
• Action Space — 2× in this paper · explained in 1 episode
• Adam — 2× in this paper · explained in 2 episodes
• Behavior Cloning — 2× in this paper
• Feature Extraction — 2× in this paper · explained in 2 episodes
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Accuracy — 1× in this paper · explained in 1 episode
• Action Chunking — 1× in this paper · explained in 1 episode
• Action Chunking Transformer — 1× in this paper
• Action Chunking Transformer (ACT) — 1× in this paper · explained in 1 episode
• Affordance — 1× in this paper · explained in 1 episode
• Closed-Loop Control — 1× in this paper · explained in 3 episodes
• Computational overhead — 1× in this paper · explained in 2 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Diffusion Policy (DP) — 1× in this paper · explained in 2 episodes
• Digital Twin — 1× in this paper · explained in 5 episodes
• Downstream Tasks — 1× in this paper · explained in 2 episodes
• KL Regularization — 1× in this paper · explained in 2 episodes
• Latent Space — 1× in this paper · explained in 7 episodes
• Multimodal Learning — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Representation Learning — 1× in this paper · explained in 2 episodes
• Self-Supervised Learning — 1× in this paper · explained in 8 episodes

Sources

• Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware
• PP-Tac: Paper Picking Using Tactile Feedback in Dexterous Robotic Hands
• Touch in the Wild: Learning Fine-Grained Manipulation with a Portable Visuo-Tactile Gripper
• Learning Precise, Contact-Rich Manipulation through Uncalibrated Tactile Skins
• 3D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensing
• Spatially anchored Tactile Awareness for Robust Dexterous Manipulation
• AnySkin: Plug-and-play Skin Sensing for Robotic Touch
• TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model
• AnyTouch: Learning Unified Static-Dynamic Representation across Multiple Visuo-tactile Sensors
• An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale
• LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learning
• ETac: A Lightweight and Efficient Tactile Simulation Framework for Learning Dexterous Manipulation
• LeRobot: An Open-Source Library for End-to-End Robot Learning

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