Cross-Modal Visuo-Tactile Representation Learning with Action Chunking Transformers for Contact-Rich Manipulation
Research
Source: arXiv cs.ROPublish time unverified
arXiv:2602.00514v3 Announce Type: replace Abstract: Tactile feedback is important for contact-rich robotic manipulation, yet effective use of tactile observations remains challenging when tactile signals are image-like, hardware-dependent, and only weakly aligned with external visual observations. This study addresses this representation-learning problem by proposing a visuo-tactile contrastive learning framework for imitation-based manipulation.