Tac2Pix: Image-Space Visuo-Tactile Fusion for Dexterous Manipulation
Vision and touch are naturally complementary for dexterous manipulation. Yet they are represented in fundamentally different forms: visual observations are dense and spatially structured, whereas tactile measurements are sparse, heterogeneous, and robot-centric. This mismatch makes it challenging to establish explicit spatial correspondence between the two modalities, particularly when they are fused in latent space. However, each tactile measurement is associated with a known location on the robot's kinematic chain, offering a localization prior that could bridge this representational gap. This raises a natural question: can this localization prior be used to construct a shared represent...
| Authors | Shengcheng Luo, Kefei Wu, Xiaoying Zhou et al. |
|---|---|
| Primary category | cs.RO |
| Published | 7 June 2026 |
| Last updated at source | 27 September 2026 |
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