DeTac: Dual-branch Decoupling of Texture and Force Signals in Vision-Based Tactile Sensors

arXiv:2610.16463 · cs.RO · Submitted 2026-10-12 · Read on arXiv

cs.RO

Submitted: 2026-10-12

Updated: 2026-10-12

Comments: Accepted at the 10th Conference on Robot Learning (CoRL 2026). 17 pages, 11 figures

Code: https://github.com/joehjhuang/gs_sdk

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

Terminology

• Decoupling — 1× in this paper · explained in 2 episodes

Sources

• Tactile-VLA: Unlocking Vision-Language-Action Model's Physical Knowledge for Tactile Generalization
• MagicSkin: Balancing Marker and Markerless Modes in Vision-Based Tactile Sensors with a Translucent Skin
• MuxGel: Simultaneous Dual-Modal Visuo-Tactile Sensing via Spatially Multiplexing and Deep Reconstruction
• SAM 3: Segment Anything with Concepts

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