Tactile-Guided Robot Learning: From Representation Learning to Foundation Models

arXiv:2610.20134 · cs.RO · Submitted 2026-10-14 · Read on arXiv

cs.RO

Submitted: 2026-10-14

Updated: 2026-10-14

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

Terminology

• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Representation Learning — 1× in this paper · explained in 3 episodes

Sources

• GPT-4 Technical Report
• RoboPack: Learning Tactile-Informed Dynamics Models for Dense Packing
• HapTile: A Haptic-Informed Vision-Tactile-Language-Action Dataset for Contact-Rich Imitation Learning
• Qwen3-VL Technical Report
• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• An Introduction to Vision-Language Modeling
• Tactile-based Multimodal Fusion in Embodied Intelligence: A Survey of Vision, Language, and Contact-Driven Paradigms
• UniVTAC: A Unified Simulation Platform for Visuo-Tactile Manipulation Data Generation, Learning, and Benchmarking
• Don't Start from Scratch: Behavioral Refinement via Interpolant-based Policy Diffusion
• ImplicitRDP: An End-to-End Visual-Force Diffusion Policy with Structural Slow-Fast Learning
• UniForce: A Unified Latent Force Model for Robot Manipulation with Diverse Tactile Sensors
• Gemini 2.5: Pushing the Frontier with Advanced Reasoning, Multimodality, Long Context, and Next Generation Agentic Capabilities
• End-to-End Dexterous Arm-Hand VLA Policies via Shared Autonomy: VR Teleoperation Augmented by Autonomous Hand VLA Policy for Efficient Data Collection
• An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale
• AnyTouch: Learning Unified Static-Dynamic Representation across Multiple Visuo-tactile Sensors
• AnyTouch 2: General Optical Tactile Representation Learning For Dynamic Tactile Perception
• A Touch, Vision, and Language Dataset for Multimodal Alignment
• Retrieval-Augmented Generation for Large Language Models: A Survey
• VITaL Pretraining: Visuo-Tactile Pretraining for Tactile and Non-Tactile Manipulation Policies
• The Llama 3 Herd of Models

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