STAR: Sparse Tactile Representation Learning in Vision-Tactile-Language-Action Models for Dexterous Manipulation

arXiv:2609.12549 · cs.RO · Submitted 2026-09-11 · Read on arXiv

cs.RO

Submitted: 2026-09-11

Updated: 2026-09-18

Project page: https://stardex-web.github.io/Star

Terminology

• Sparsity — 29× in this paper · explained in 4 episodes
• Alignment — 7× in this paper · explained in 1 episode
• Ablation — 6× in this paper · explained in 1 episode
• Redundancy — 6× in this paper · explained in 2 episodes
• Generalization — 5× in this paper · explained in 13 episodes
• Transformer — 4× in this paper · explained in 2 episodes
• Ablation Studies — 3× in this paper · explained in 1 episode
• Foundation Model — 3× in this paper · explained in 3 episodes
• Robustness — 3× in this paper · explained in 5 episodes
• Accuracy — 2× in this paper · explained in 1 episode
• Embeddings — 2× in this paper · explained in 2 episodes
• Representation Learning — 2× in this paper · explained in 2 episodes
• Action Space — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Latent Dynamics — 1× in this paper · explained in 2 episodes
• Modality Gap — 1× in this paper · explained in 4 episodes
• Sim-to-Real Gap — 1× in this paper · explained in 6 episodes
• Tokenization — 1× in this paper · explained in 2 episodes
• VLA Models — 1× in this paper · explained in 3 episodes

Sources

• Towards Human-Like Manipulation through RL-Augmented Teleoperation and Mixture-of-Dexterous-Experts VLA
• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
• Being-H0.7: A Latent World-Action Model from Egocentric Videos
• EgoScale: Scaling Dexterous Manipulation with Diverse Egocentric Human Data
• TacVLA: Contact-Aware Tactile Fusion for Robust Vision-Language-Action Manipulation
• EgoVerse: An Egocentric Human Dataset for Robot Learning from Around the World
• Dexterous Functional Pre-Grasp Manipulation with Diffusion Policy
• AT-VLA: Adaptive Tactile Injection for Enhanced Feedback Reaction in Vision-Language-Action Models

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