Language-Guided Representation Learning for Robust Cross-Sensor Material Recognition

arXiv:2609.14783 · cs.RO, cs.CL, cs.CV · Submitted 2026-09-13 · Read on arXiv

cs.RO, cs.CL, cs.CV

Submitted: 2026-09-13

Updated: 2026-09-13

Comments: Accepted for presentation at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2026)

Project page: https://mashood3624.github.io/Language_Tactile

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Distillation — 31× in this paper · explained in 2 episodes
• Accuracy — 28× in this paper · explained in 1 episode
• Generalization — 10× in this paper · explained in 13 episodes
• Representation Learning — 10× in this paper · explained in 2 episodes
• Alignment — 7× in this paper · explained in 1 episode
• Benchmark — 7× in this paper · explained in 2 episodes
• Adaptation — 6× in this paper · explained in 1 episode
• Transformer — 6× in this paper · explained in 2 episodes
• Embeddings — 5× in this paper · explained in 2 episodes
• Few-Shot Learning — 5× in this paper · explained in 4 episodes
• Knowledge Distillation — 4× in this paper · explained in 11 episodes
• Robustness — 4× in this paper · explained in 5 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Calibration — 3× in this paper · explained in 7 episodes
• Fine-Tuning — 3× in this paper · explained in 5 episodes
• Benchmarking — 2× in this paper · explained in 4 episodes
• F1 Score — 2× in this paper · explained in 3 episodes
• Grounding — 2× in this paper · explained in 3 episodes
• Semantic Alignment — 2× in this paper · explained in 3 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Ablation study — 1× in this paper · explained in 1 episode
• Center for Autonomous Robotic Systems — 1× in this paper
• Computer Vision and Pattern Recognition — 1× in this paper
• Consistency — 1× in this paper · explained in 3 episodes
• Downstream Tasks — 1× in this paper · explained in 2 episodes
• Multimodal Integration — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Transferability — 1× in this paper · explained in 4 episodes
• Transformer Architecture — 1× in this paper · explained in 2 episodes
• Unified Framework — 1× in this paper · explained in 5 episodes
• Vision Transformer (ViT) — 1× in this paper · explained in 2 episodes
• Vision-language models — 1× in this paper · explained in 2 episodes

Sources

• Sparsh: Self-supervised touch representations for vision-based tactile sensing
• Octopi: Object Property Reasoning with Large Tactile-Language Models

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