More with LESS -- Local Scene Representations for Tactile Imaging
Tactile imaging seeks to reconstruct the internal structure of soft objects through touch sensing, with applications in medical diagnosis and robotic manipulation. Recent self-supervised learning approaches have shown promising results, but rely on global, unstructured representations and robot-controlled sensing, limiting generalization and practical use. We propose Local Encoder for Spatial Sensing (LESS), an object-centric tactile representation that exploits the local nature of touch. The tactile scene is modeled as a grid of recurrent encoders with local receptive fields, whose states are fused to reconstruct 2D or 3D images of internal structure. This compositional design enables st...
| Authors | Zohar Rimon, Elisei Shafer, Tal Tepper et al. |
|---|---|
| Primary category | cs.LG |
| Published | 12 June 2026 |
| Last updated at source | 12 June 2026 |
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