├── LICENSE.md └── README.md /LICENSE.md: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2022 linchangyi1 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Awesome Touch [![Awesome](https://awesome.re/badge-flat.svg)](https://awesome.re) [![License: MIT](https://img.shields.io/badge/License-MIT-green.svg)](https://opensource.org/licenses/MIT) 2 | 3 | ## Table of Contents 4 | 5 | - [Sensors](#sensors) 6 | - [Vision-Based](#vision-based) 7 | - [Visual-Tactile (Multimodal)](#visual-tactile) 8 | - [Non-Vision-Based](#non-vision-based) 9 | - [Robotics Applications](#robotics-applications) 10 | - [Manipulation/Grasping](#manipulationgrasping) 11 | - [Classification/Recognition](#classificationrecognition) 12 | - [Mapping/Localization](#mappinglocalization) 13 | - [Extrinsic Contact Sensing](#extrinsic-contact-sensing) 14 | - [Image Generation](#image-generation) 15 | - [Representation Learnig](#representation-learning) 16 | - [Force Estimation](#force-estimation) 17 | - [LLM/VLM/VLA](#llmvlmvla) 18 | - [Dexterous Manipulation](#dexterous-manipulation) 19 | - [Data Collection](#data-collection) 20 | - [Tactile Policies for Legged Robots](#tactile-policies-for-legged-robots) 21 | - [Others](#others) 22 | - [Software](#software) 23 | - [Simulator](#simulator) 24 | - [Library](#library) 25 | - [Dataset](#dataset) 26 | - [Review](#review) 27 | - [Thesis](#thesis) 28 | - [Products](#products) 29 | - [Open Source](#open-source) 30 | - [Laboratory](#laboratory) 31 | - [Citation](#citation) 32 | 33 | 34 | 35 | ## Sensors 36 | 37 | ### Vision-Based 38 | - [Planar and finger-shaped optical tactile sensors for robotic applications](https://ieeexplore.ieee.org/abstract/document/20431), Begej et al., IEEE Journal on Robotics and Automation 1988 39 | 40 | - [A finger-shaped tactile sensor using an optical waveguide](https://ieeexplore.ieee.org/abstract/document/390885), Maekawa et al., SMC 1993 41 | 42 | - [Vision-based sensor for real-time measuring of surface traction fields](https://ieeexplore.ieee.org/abstract/document/1381228), Kamiyama et al., CG&A 2005 43 | 44 | - [Measurement of force vector field of robotic finger using vision-based haptic sensor](https://ieeexplore.ieee.org/abstract/document/4650712), Sato et al., IROS 2008 45 | 46 | - [Retrographic sensing for the measurement of surface texture and shape](https://ieeexplore.ieee.org/abstract/document/5206534), Johnson et al., CVPR 2009 47 | 48 | - [Finger-Shaped GelForce: Sensor for Measuring Surface Traction Fields for Robotic Hand](https://ieeexplore.ieee.org/abstract/document/5306070), Sato et al., TOH 2010 49 | 50 | - [Microgeometry Capture using an Elastomeric Sensor](https://dl.acm.org/doi/abs/10.1145/2010324.1964941), Johnson et al., TOG 2011 51 | 52 | - [Localization and Manipulation of Small Parts Using GelSight Tactile Sensing](https://ieeexplore.ieee.org/abstract/document/6943123), Li et al., IROS 2014 53 | 54 | - [Measurement of Shear and Slip with a GelSight Tactile Sensor](https://ieeexplore.ieee.org/abstract/document/7139016), Yuan et al., ICRA 2015 55 | 56 | - [Combining finger vision and optical tactile sensing: Reducing and handling errors while cutting vegetables](https://ieeexplore.ieee.org/abstract/document/7803400), Yamaguchi et al., Humanoids 2016 57 | 58 | - [Improved GelSight Tactile Sensor for Measuring Geometry and Slip](https://ieeexplore.ieee.org/abstract/document/8202149), Dong et al., IROS 2017 59 | 60 | - [GelSight: High-Resolution Robot Tactile Sensors for Estimating Geometry and Force](https://www.mdpi.com/1424-8220/17/12/2762), Yuan et al., MDPI Sensors 2017 61 | 62 | - [FingerVision Tactile Sensor Design and Slip Detection Using Convolutional LSTM Network](https://arxiv.org/abs/1810.02653), Zhang et al., arxiv 2018 63 | 64 | - [The TacTip Family: Soft Optical Tactile Sensors with 3D-Printed Biomimetic Morphologies](https://www.liebertpub.com/doi/full/10.1089/soro.2017.0052), Ward-Cherrier et al., SoRo 2018 65 | 66 | - [GelSlim: A High-Resolution, Compact, Robust, and Calibrated Tactile-sensing Finger](https://ieeexplore.ieee.org/abstract/document/8593661), Donlon et al., IROS 2018 67 | 68 | - [Robotic bolt insertion and tightening based on in-hand object localization and force sensing](https://ieeexplore.ieee.org/document/8452338), Nozu et al., AIM 2018 69 | 70 | - [Sensing the Frictional State of a Robotic Skin via Subtractive Color Mixing](https://ieeexplore.ieee.org/abstract/document/8613793), Lin et al., RAL 2019 71 | 72 | - [Development of a Vision-Based Soft Tactile Muscularis](https://ieeexplore.ieee.org/abstract/document/8722814), Duong et al., RoboSoft 2019 73 | 74 | - [Design, Motivation and Evaluation of a Full-Resolution Optical Tactile Sensor](https://www.mdpi.com/1424-8220/19/4/928), Sferrazza et al., MDPI Sensors 2019 75 | 76 | - [Transfer learning for vision-based tactile sensing](https://ieeexplore.ieee.org/abstract/document/8967571), Sferrazza et al., IROS 2019 77 | 78 | - [An Elastomer-based Flexible Optical Force and Tactile Sensor](https://ieeexplore.ieee.org/abstract/document/8722793), Li et al., RoboSoft 2019 79 | 80 | - [Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation](https://ieeexplore.ieee.org/abstract/document/8722713), Alspach et al., RoboSoft 2019 81 | 82 | - [Event-based Tactile Image Sensor for Detecting Spatio-Temporal Fast Phenomena in Contacts](https://ieeexplore.ieee.org/document/8816132), Kumagai et al., WHC 2019 83 | 84 | - [Soft-Bubble grippers for robust and perceptive manipulation](https://ieeexplore.ieee.org/abstract/document/9341534), Kuppuswamy et al., IROS 2020 85 | 86 | - [GelTip: A Finger-shaped Optical Tactile Sensor for Robotic Manipulation](https://ieeexplore.ieee.org/abstract/document/9340881), Gomes et al., IROS 2020 87 | 88 | - [A Novel Dynamic-Vision-Based Approach for Tactile Sensing Applications](https://ieeexplore.ieee.org/abstract/document/8723387), Naeini et al., Trans. Instrum. Meas. 2020 89 | 90 | - [Low-Cost Fiducial-based 6-Axis Force-Torque Sensor](https://ieeexplore.ieee.org/abstract/document/9196925), Ouyang et al., ICRA 2020 91 | 92 | - [OmniTact: A Multi-Directional High-Resolution Touch Sensor](https://ieeexplore.ieee.org/abstract/document/9196712), Padmanabha1 et al., ICRA 2020 93 | 94 | - [DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor with Application to In-Hand Manipulation](https://ieeexplore.ieee.org/abstract/document/9018215), Lambeta et al., RAL 2020 95 | 96 | - [VTacArm: A Vision-based Tactile Sensing Augmented Robotic Arm with Application to Human-robot Interaction](https://ieeexplore.ieee.org/abstract/document/9217019), Zhang et al., CASE 2020 97 | 98 | - [Soft, Round, High Resolution Tactile Fingertip Sensors for Dexterous Robotic Manipulation](https://ieeexplore.ieee.org/abstract/document/9196909), Romero et al., ICRA 2020 99 | 100 | - [Towards vision-based robotic skins: a data-driven, multi-camera tactile sensor](https://ieeexplore.ieee.org/abstract/document/9116060), Trueeb et al., RoboSoft 2020 101 | 102 | - [Exoskeleton-covered soft finger with vision-based proprioception and tactile sensing](https://ieeexplore.ieee.org/abstract/document/9197369), She et al., ICRA 2020 103 | 104 | - [F-TOUCH Sensor for Three-Axis Forces Measurement and Geometry Observation](https://ieeexplore.ieee.org/document/9278600), Li et al., IEEE SENSORS 2020 105 | 106 | - [Design of a Fully Actuated Robotic Hand With Multiple Gelsight Tactile Sensors](https://arxiv.org/abs/2002.02474), Wilson et al., arxiv 2020 107 | 108 | - [A Miniaturised Neuromorphic Tactile Sensor integrated with an Anthropomorphic Robot Hand](https://ieeexplore.ieee.org/document/9341391), Ward-Cherrier et al., IROS 2020 109 | 110 | - [TouchRoller: A Rolling Optical Tactile Sensor for Rapid Assessment of Large Surfaces](https://arxiv.org/abs/2103.00595), Cao et al., arxiv 2021 111 | 112 | - [Variable compliance and geometry regulation of Soft-Bubble grippers with active pressure control](https://ieeexplore.ieee.org/abstract/document/9479228), Joonhigh et al., RoboSoft 2021 113 | 114 | - [Monocular Depth Estimation for Soft Visuotactile Sensors](https://ieeexplore.ieee.org/abstract/document/9479234), Ambrus et al., RoboSoft 2021 115 | 116 | - [SEED: Series Elastic End Effectors in 6D for Visuotactile Tool Use](https://arxiv.org/abs/2111.01376), Suh et al., arxiv 2021 117 | 118 | - [Viko: An Adaptive Gecko Gripper with Vision-based Tactile Sensor](https://ieeexplore.ieee.org/abstract/document/9561606), Pang et al., ICRA 2021 119 | 120 | - [GelSight Wedge: Measuring High-Resolution 3D Contact Geometry with a Compact Robot Finger](https://ieeexplore.ieee.org/abstract/document/9560783), Wang et al., ICRA 2021 121 | 122 | - [A Tactile Sensing Foot for Single Robot Leg Stabilization](https://ieeexplore.ieee.org/abstract/document/9560967), Zhang et al., ICRA 2021 123 | 124 | - [High-Resolution 3-Dimensional Contact Deformation Tracking for FingerVision Sensor With Dense Random Color Pattern](https://ieeexplore.ieee.org/abstract/document/9361253), Du et al., RAL 2021 125 | 126 | - [StRETcH: a Soft to Resistive Elastic Tactile Hand](https://ieeexplore.ieee.org/abstract/document/9561822), Matl et al., ICRA 2021 127 | 128 | - [FingerVision with Whiskers: Light Touch Detection with Vision-based Tactile Sensors](https://ieeexplore.ieee.org/abstract/document/9699987), Yamaguchi et al., IRC 2021 129 | 130 | - [Visiflex: A Low-Cost Compliant Tactile Fingertip for Force, Torque, and Contact Sensing](https://ieeexplore.ieee.org/abstract/document/9361260), Fernandez et al., RAL 2021 131 | 132 | - [Vision-Based Tactile Sensor Mechanism for the Estimation of Contact Position and Force Distribution Using Deep Learning](https://www.mdpi.com/1424-8220/21/5/1920/htm), Kakani et al., MDPI Sensors 2021 133 | 134 | - [Incipient Slip Detection Method With Vision-Based Tactile Sensor Based on Distribution Force and Deformation](https://ieeexplore.ieee.org/document/9565930), Sui et al., IEEE Sensors 2021 135 | 136 | - [Large-Scale Vision-Based Tactile Sensing for Robot Links: Design, Modeling, and Evaluation](https://ieeexplore.ieee.org/document/9247533), Duong et al., TRO 2021 137 | 138 | - [GelSlim 3.0: High-Resolution Measurement of Shape, Force and Slip in a Compact Tactile-Sensing Finger](https://ieeexplore.ieee.org/abstract/document/9811832), Taylor et al., ICRA 2022 139 | 140 | - [In-Hand Object Localization Using a Novel High-Resolution Visuotactile Sensor](https://ieeexplore.ieee.org/abstract/document/9464700), Cui et al., Trans. Ind. Electron. 2022 141 | 142 | - [DelTact: A Vision-based Tactile Sensor Using Dense Color Pattern](https://ieeexplore.ieee.org/abstract/document/9849124), Zhang et al., RAL 2022 143 | 144 | - [A soft thumb-sized vision-based sensor with accurate all-round force perception](https://www.nature.com/articles/s42256-021-00439-3), Sun et al., Nature Machine Intelligence 2022 145 | 146 | - [Soft-Jig: A Flexible Sensing Jig for Simultaneously Fixing and Estimating Orientation of Assembly Parts](https://ieeexplore.ieee.org/abstract/document/9812094), Sakuma et al., ICRA 2022 147 | 148 | - [DigiTac: A DIGIT-TacTip Hybrid Tactile Sensor for Comparing Low-Cost High-Resolution Robot Touch](https://ieeexplore.ieee.org/abstract/document/9829271), Lepora et al., RAL 2022 149 | 150 | - [Model-Based 3D Contact Geometry Perception for Visual Tactile Sensor](https://www.mdpi.com/1424-8220/22/17/6470), Ji et al., MDPI Sensors 2022 151 | 152 | - [TaTa: A Universal Jamming Gripper with High-Quality Tactile Perception and Its Application to Underwater Manipulation](https://ieeexplore.ieee.org/document/9811806), Li et al., ICRA 2022 153 | 154 | - [HaptiTemp: A Next-Generation Thermosensitive GelSight-Like Visuotactile Sensor](https://ieeexplore.ieee.org/abstract/document/9652522), Abad et al., IEEE Sensors 2022 155 | 156 | - [DenseTact: Optical Tactile Sensor for Dense Shape Reconstruction](https://ieeexplore.ieee.org/abstract/document/9811966), Do et al., ICRA 2022 157 | 158 | - [Implementing Monocular Visual-Tactile Sensors for Robust Manipulation](https://spj.sciencemag.org/journals/cbsystems/2022/9797562/), Li et al., CBS 2022 159 | 160 | - [Design of a Biomimetic Tactile Sensor for Material Classification](https://ieeexplore.ieee.org/document/9811543), Dai et al., ICRA 2022 161 | 162 | - [GelSight Fin Ray: Incorporating Tactile Sensing into a Soft Compliant Robotic Gripper](https://ieeexplore.ieee.org/document/9762175), Liu et al., RoboSoft 2022 163 | 164 | - [Soft Robotic Link with Controllable Transparency for Vision-based Tactile and Proximity Sensing](https://arxiv.org/abs/2211.03253), Luu et al., arxiv 2022 165 | 166 | - [HiVTac: A High-Speed Vision-Based Tactile Sensor for Precise and Real-Time Force Reconstruction with Fewer Markers](https://www.mdpi.com/1424-8220/22/11/4196/htm), Quan et al., MDPI Sensors 2022 167 | 168 | - [Multidimensional Tactile Sensor with a Thin Compound Eye-Inspired Imaging System](https://www.liebertpub.com/doi/full/10.1089/soro.2020.0202), Zhang et al., Soft Robotics 2022 169 | 170 | - [3D Contact Point Cloud Reconstruction From Vision-Based Tactile Flow](https://ieeexplore.ieee.org/document/9919353), Du et al., RAL 2022 171 | 172 | - [Elastomer-Based Visuotactile Sensor for Normality of Robotic Manufacturing Systems](https://www.mdpi.com/2073-4360/14/23/5097), Zaid et al., Polymers 2022 173 | 174 | - [TacRot: A Parallel-Jaw Gripper with Rotatable Tactile Sensors for In-Hand Manipulation](https://ieeexplore.ieee.org/abstract/document/9945388), Zhang et al., SMC 2022 175 | 176 | - [Real-Time Marker Localization Learning for GelStereo Tactile Sensing](https://ieeexplore.ieee.org/abstract/document/10011997), Liu et al., ROBIO 2022 177 | 178 | - [Tac3D: A Novel Vision-based Tactile Sensor for Measuring Forces Distribution and Estimating Friction Coefficient Distribution](https://arxiv.org/abs/2202.06211), Zhang et al., arxiv 2022 179 | 180 | - [Continuous Marker Patterns for Representing Contact Information in Vision-Based Tactile Sensor: Principle, Algorithm, and Verification](https://ieeexplore.ieee.org/document/9851411), Li et al., Trans. Instrum. Meas. 2022 181 | 182 | - [Improving the Force Reconstruction Performance of Vision-Based Tactile Sensors by Optimizing the Elastic Body](https://ieeexplore.ieee.org/abstract/document/10012440), Zhang et al., RAL 2023 183 | 184 | - [Improving the Representation and Extraction of Contact Information in Vision-based Tactile Sensors Using Continuous Marker Pattern](https://www.techrxiv.org/articles/preprint/Improving_the_Representation_and_Extraction_of_Contact_Information_in_Vision-based_Tactile_Sensors_Using_Continuous_Marker_Pattern/22217653), Li et al., TechRxiv 2023 185 | 186 | - [DotView: A Low-Cost Compact Tactile Sensor for Pressure, Shear, and Torsion Estimation](https://ieeexplore.ieee.org/abstract/document/10005792), Zheng et al., RAL 2023 187 | 188 | - [A Novel Vision-Based Tactile Sensor Using Lamination and Gilding Process for Improvement of Outdoor Detection and Maintainability](https://ieeexplore.ieee.org/abstract/document/10006734), Zhang et al., IEEE SENSORS 2023 189 | 190 | - [GelStereo Palm: a Novel Curved Visuotactile Sensor for 3D Geometry Sensing](https://ieeexplore.ieee.org/abstract/document/10035880), Hu et al., TII 2023 191 | 192 | - [DenseTact 2.0: Optical Tactile Sensor for Shape and Force Reconstruction](https://arxiv.org/abs/2209.10122), Do et al., ICRA 2023 193 | 194 | - [DTact: A Vision-Based Tactile Sensor that Measures High-Resolution 3D Geometry Directly from Darkness](https://arxiv.org/abs/2209.13916), Lin et al., ICRA 2023 195 | 196 | - [9DTact: A Compact Vision-Based Tactile Sensor for Accurate 3D Shape Reconstruction and Generalizable 6D Force Estimation](https://arxiv.org/abs/2308.14277), Lin et al., RAL 2023 197 | 198 | - [A Miniaturised Camera-based Multi-Modal Tactile Sensor](https://arxiv.org/abs/2303.03093), Althoefer et al., arxiv 2023 199 | 200 | - [Simulation, Learning, and Application of Vision-Based Tactile Sensing at Large Scale](https://ieeexplore.ieee.org/abstract/document/10054516), Khanh Luu et al., TRO 2023 201 | 202 | - [High-Precision 3D Reconstruction Study with Emphasis on Refractive Calibration of GelStereo-Type Sensors](https://www.mdpi.com/1424-8220/23/5/2675), Zhang et al., MDPI Sensors 2023 203 | 204 | - [GelSight Baby Fin Ray: A Compact, Compliant, Flexible Finger with High-Resolution Tactile Sensing](https://arxiv.org/abs/2303.14883), Liu et al., arxiv 2023 205 | 206 | - [GelSight EndoFlex: A Soft Endoskeleton Hand with Continuous High-Resolution Tactile Sensing](https://arxiv.org/abs/2303.17935.pdf), Liu et al., arxiv 2023 207 | 208 | - [GelSight360: An Omnidirectional Camera-Based Tactile Sensor for Dexterous Robotic Manipulation](https://arxiv.org/abs/2304.04268), Tippur et al., arxiv 2023 209 | 210 | - [TactiGraph: An Asynchronous Graph Neural Network for Contact Angle Prediction Using Neuromorphic Vision-Based Tactile Sensing](https://www.preprints.org/manuscript/202304.0133/v1), Sajwani et al., preprints 2023 211 | 212 | - [A Tactile Sensing Concept for 3D Displacement and 3D Force Measurement using Light Angle and Intensity Sensing](https://www.techrxiv.org/articles/preprint/A_Tactile_Sensing_Concept_for_3D_Displacement_and_3D_Force_Measurement_using_Light_Angle_and_Intensity_Sensing/22593130?file=40112941), Leslie et al., preprints 2023 213 | 214 | - [Minsight: a fingertip-sized vision-based tactile sensor for robotic manipulation](https://arxiv.org/abs/2304.10990.pdf), Andrussow et al., arxiv 2023 215 | 216 | - [Real-time and Robust Feature Detection of Continuous Marker Pattern for Dense 3-D Deformation Measurement](https://arxiv.org/abs/2305.11782), Mingxuan et al., arxiv 2023 217 | 218 | - [Tactile-Reactive Roller Grasper](https://arxiv.org/abs/2306.09946), Yuan et al., arxiv 2023 219 | 220 | - [LensLeech: On-Lens Interaction for Arbitrary Camera Devices](https://arxiv.org/abs/2307.00152), Getschmann et al., arxiv 2023 221 | 222 | - [L3F-TOUCH: A Wireless GelSight with Decoupled Tactile and Three-axis Force Sensing](https://ieeexplore.ieee.org/abstract/document/10173594), Li et al., RAL 2023 223 | 224 | - [AllSight: A Low-Cost and High-Resolution Round Tactile Sensor with Zero-Shot Learning Capability](https://arxiv.org/abs/2307.02928), Azulay et al., arxiv 2023 225 | 226 | - [GelFinger: A Novel Visual-Tactile Sensor With Multi-Angle Tactile Image Stitching](https://ieeexplore.ieee.org/abstract/document/10209180), Lin et al., RAL 2023 227 | 228 | - [OMsense: An Omni Tactile Sensing Principle Inspired by Compound Eyes](https://ieeexplore.ieee.org/abstract/document/10216356), Yu et al., TMech 2023 229 | 230 | - [Proprioceptive Learning with Soft Polyhedral Networks](https://arxiv.org/abs/2308.08538), Liu et al., arxiv 2023 231 | 232 | - [A platypus-inspired electro-mechanosensory finger for remote control and tactile sensing](https://www.sciencedirect.com/science/article/pii/S2211285523006274), Mu et al., Nano Energy 2023 233 | 234 | - [GelFinger: A Novel Visual-Tactile Sensor With Multi-Angle Tactile Image Stitching](https://ieeexplore.ieee.org/abstract/document/10209180), Lin et al., RAL 2023 235 | 236 | - [High-Precision 3D Reconstruction Study with Emphasis on Refractive Calibration of GelStereo-Type Sensors](https://www.mdpi.com/1424-8220/23/5/2675), Zhang et al., MDPI Sensors 2023 237 | 238 | - [HSVTac: A High-speed Vision-based Tactile Sensor for Exploring Fingertip Tactile Sensitivity](https://ieeexplore.ieee.org/abstract/document/10234215), Wang et al., IEEE Sensors 2023 239 | 240 | - [3D Dense Reconstruction of Vision-based Tactile Sensor with Coded Markers](https://ieeexplore.ieee.org/abstract/document/10238349), Xue et al., TIM 2023 241 | 242 | - [WSTac: Interactive Surface Perception based on Whisker-Inspired and Self-Illuminated Vision-Based Tactile Sensor](https://arxiv.org/abs/2308.13241), Lei et al., arxiv 2023 243 | 244 | - [DenseTact-Mini: An Optical Tactile Sensor for Grasping Multi-Scale Objects From Flat Surfaces](https://arxiv.org/abs/2309.08860), Do et al., arxiv 2023 245 | 246 | - [GelSight Svelte: A Human Finger-shaped Single-camera Tactile Robot Finger with Large Sensing Coverage and Proprioceptive Sensing](https://arxiv.org/abs/2309.10885), Zhao et al., arxiv 2023 247 | 248 | - [GelSight Svelte Hand: A Three-finger, Two-DoF, Tactile-rich, Low-cost Robot Hand for Dexterous Manipulation](https://arxiv.org/abs/2309.10886), Zhao et al., arxiv 2023 249 | 250 | - [A Vision-Based Tactile Sensing System for Multimodal Contact Information Perception via Neural Network](https://arxiv.org/abs/2310.01986), Xu et al., arxiv 2023 251 | 252 | - [Towards Design and Development of an ArUco Markers-Based Quantitative Surface Tactile Sensor](https://arxiv.org/abs/2310.08398), Kara et al., arxiv 2023 253 | 254 | - [Dynamic Focusing (DF) Cone-Based Omnidirectional Fingertip Pressure Sensor with High Sensitivity in a Wide Pressure Range](https://www.mdpi.com/1424-8220/23/20/8450), Seo et al., MDPI Sensors 2023 255 | 256 | - [MC-Tac: Modular Camera-Based Tactile Sensor for Robot Gripper](https://link.springer.com/chapter/10.1007/978-981-99-6495-6_15), Ren et al., ICIRA 2023 257 | 258 | - [Evetac: An Event-based Optical Tactile Sensor for Robotic Manipulation](https://arxiv.org/abs/2312.01236), Funk et al., TRO 2023 259 | 260 | - [GelStereo BioTip: Self-Calibrating Bionic Fingertip Visuotactile Sensor for Robotic Manipulation](https://ieeexplore.ieee.org/abstract/document/10358360), Cui et al., TMech 2023 261 | 262 | - [A Soft and Inflatable Vision-Based Tactile Sensor for Inspection of Constrained and Confined Spaces](https://ieeexplore.ieee.org/document/10292571), Kim et al., IEEE Sensors 2023 263 | 264 | - [AELTac: A vision-based electroluminescent tactile sensing skin for force localization and magnitude estimation](https://ieeexplore.ieee.org/document/10413302), Fu et al., IEEE Sensors 2024 265 | 266 | - [TSATac: A Thermoluminescence Enabled Tactile Sensor for Concurrent Perception of Temperature, Pressure, and Shear](https://arxiv.org/abs/2402.00585), Song et al., arxiv 2024 267 | 268 | - [ViTacTip: Design and Verification of a Novel Biomimetic Physical Vision-Tactile Fusion Sensor](https://arxiv.org/abs/2402.00199), Fan et al., arxiv 2024 269 | 270 | - [MagicTac: A Novel High-Resolution 3D Multi-layer Grid-Based Tactile Sensor](https://arxiv.org/abs/2402.01366), Fan et al., arxiv 2024 271 | 272 | - [Scalable, Simulation-Guided Compliant Tactile Finger Design](https://arxiv.org/pdf/2403.04638), Ma et al., arxiv 2024 273 | 274 | - [GelLink: A Compact Multi-phalanx Finger with Vision-based Tactile Sensing and Proprioception](https://arxiv.org/pdf/2403.14887), Ma et al., arxiv 2024 275 | 276 | - [Using Fiber Optic Bundles to Miniaturize Vision-Based Tactile Sensors](https://arxiv.org/pdf/2403.05500.pdf), Di et al., TRO 2024 277 | 278 | - [BioTacTip: A Soft Biomimetic Optical Tactile Sensor for Efficient 3D Contact Localization and 3D Force Estimation](https://ieeexplore.ieee.org/abstract/document/10496158), Li et al., RAL 2024 279 | 280 | - [A Passively Bendable, Compliant Tactile Palm with RObotic Modular Endoskeleton Optical (ROMEO) Fingers](https://arxiv.org/pdf/2404.08227.pdf), Liu et al., arxiv 2024 281 | 282 | - [Design and Evaluation of a Rapid Monolithic Manufacturing Technique for a Novel Vision-Based Tactile Sensor: C-Sight](https://www.mdpi.com/1424-8220/24/14/4603), Fan et al., MDPI Sensors 2024 283 | 284 | - [CrystalTac: 3D-Printed Vision-Based Tactile Sensor Family through Rapid Monolithic Manufacturing Technique](https://arxiv.org/abs/2408.00638), Fan et al., arxiv 2024 285 | 286 | - [Large-scale Deployment of Vision-based Tactile Sensors on Multi-fingered Grippers](https://arxiv.org/abs/2408.02206), Wang et al., arxiv 2024 287 | 288 | - 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[Digitizing Touch with an Artificial Multimodal Fingertip](https://arxiv.org/pdf/2411.02479), Lambeta et al., Meta 2024 303 | 304 | - [NUSense: Robust Soft Optical Tactile Sensor](https://arxiv.org/pdf/2410.23516), Yergibay et al., arxiv 2024 305 | 306 | - [Behavioral biometric optical tactile sensor for instantaneous decoupling of dynamic touch signals in real time](https://www.nature.com/articles/s41467-024-52331-4#Sec9), Son et al., Nature Communications 2024 307 | 308 | - [Virtual prototyping of vision-based tactile sensors design for robotic-assisted precision machining](https://www.sciencedirect.com/science/article/pii/S0924424724004631), Zaid et al., Sensors and Actuators: A. 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[AcTExplore: Active Tactile Exploration on Unknown Objects](https://arxiv.org/abs/2310.08745), Shahidzadeh et al., arxiv 2023 546 | 547 | - [MimicTouch: Learning Human's Control Strategy with Multi-Modal Tactile Feedbacks](https://arxiv.org/abs/2310.16917), Yu et al., arxiv 2023 548 | 549 | - [Tactile Active Inference Reinforcement Learning for Efficient Robotic Manipulation Skill Acquisition](https://arxiv.org/abs/2311.11287), Liu et al., arxiv 2023 550 | 551 | - [Evetac: An Event-based Optical Tactile Sensor for Robotic Manipulation](https://arxiv.org/abs/2312.01236), Funk et al., TRO 2023 552 | 553 | - [Pose and shear-based tactile servoing](https://arxiv.org/abs/2312.08411.pdf), Lloyd et al., IJRR 2023 554 | 555 | - [GelStereo BioTip: Self-Calibrating Bionic Fingertip Visuotactile Sensor for Robotic Manipulation](https://ieeexplore.ieee.org/abstract/document/10358360), Cui et al., TMech 2023 556 | 557 | - [Perceiving Extrinsic Contacts from Touch Improves Learning Insertion Policies](https://arxiv.org/abs/2309.16652), Higuera et al., arxiv 2023 558 | 559 | - [Neural feels with neural fields: Visuo-tactile perception for in-hand manipulation](https://arxiv.org/abs/2312.13469), Suresh et al., arxiv 2023 560 | 561 | - [The Power of the Senses: Generalizable Manipulation from Vision and Touch through Masked Multimodal Learning](https://arxiv.org/pdf/2311.00924), Sferrazza et al., arxiv 2023 562 | 563 | - [TEXterity: Tactile Extrinsic deXterity](https://arxiv.org/abs/2401.10230), Bronars et al., arxiv 2024 564 | 565 | - [Tac-Man: Tactile-Informed Prior-Free Manipulation of Articulated Objects](https://arxiv.org/abs/2403.01694), Zhao et al., arxiv 2024 566 | 567 | - [LeTac-MPC: Learning Model Predictive Control for Tactile-reactive Grasping](https://arxiv.org/pdf/2403.04934), Xu et al., arxiv 2024 568 | 569 | - [Visuo-Tactile Pretraining for Cable Plugging](https://arxiv.org/pdf/2403.11898), George et al., arxiv 2024 570 | 571 | - [Stable Object Placing using Curl and Diff Features of Vision-based Tactile Sensors](https://arxiv.org/pdf/2403.19129), Takahashi et al., arxiv 2024 572 | 573 | - [DexiTac: Soft Dexterous Tactile Gripping](https://ieeexplore.ieee.org/abstract/document/10505922), Lu et al., Transactions on Mechatronics 2024 574 | 575 | - [Learning Tactile Insertion in the Real World](https://arxiv.org/abs/2405.00383), Palenicek et al., arxiv 2024 576 | 577 | - [Generalize by Touching: Tactile Ensemble Skill Transfer for Robotic Furniture Assembly](https://arxiv.org/pdf/2404.17684), Lin et al., ICRA 2024 578 | 579 | - [SimPLE, a visuotactile method learned in simulation to precisely pick, localize, regrasp, and place objects](https://www.science.org/doi/10.1126/scirobotics.adi8808#:~:text=SimPLE%20learns%20to%20pick%2C%20regrasp,visuotactile%20perception%2C%20and%20regrasp%20planning.), Bauza et al., Science Robotics 2024 580 | 581 | - [RoTipBot: Robotic Handling of Thin and Flexible Objects using Rotatable Tactile Sensors](https://arxiv.org/abs/2406.09332), Jiang et al., arxiv 2024 582 | 583 | - [RoboPack: Learning Tactile-Informed Dynamics Models for Dense Packing](https://arxiv.org/abs/2407.01418), Ai et al., RSS 2024 584 | 585 | - [Learning In-Hand Translation Using Tactile Skin With Shear and Normal Force Sensing](https://arxiv.org/pdf/2407.07885), Yin et al., arxiv 2024 586 | 587 | - [Jointly Understand Visual and Tactile Signals](https://openreview.net/pdf?id=NtQqIcSbqv), Li et al., ICLR 2024 588 | 589 | - [In-Hand Singulation and Scooping Manipulation with a 5 DOF Tactile Gripper](https://arxiv.org/abs/2408.00610), Zhou et al., arxiv 2024 590 | 591 | - [T-TD3: A Reinforcement Learning Framework for Stable Grasping of Deformable Objects Using Tactile Prior](https://arxiv.org/abs/2408.00610), Zhou et al., T-ASE 2024 592 | 593 | - [Learning Task Planning from Multi-Modal Demonstration for Multi-Stage Contact-Rich Manipulation](https://arxiv.org/pdf/2409.11863), Chen et al., arxiv 2024 594 | 595 | - [Bimanual In-hand Manipulation using Dual Limit Surfaces](https://arxiv.org/pdf/2409.14698), Dang et al., arxiv 2024 596 | 597 | - [Extremum Seeking Controlled Wiggling for Tactile Insertion](https://arxiv.org/pdf/2410.02595), Burner et al., arxiv 2024 598 | 599 | - [T-TD3: A Reinforcement Learning Framework for Stable Grasping of Deformable Objects Using Tactile Prior](https://ieeexplore.ieee.org/document/10636851), Zhou et al., TASE 2024 600 | 601 | - [3D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensing](https://arxiv.org/pdf/2410.24091), Huang et al., CoRL 2024 602 | 603 | - [Analysing the Interplay of Vision and Touch for Dexterous Insertion Tasks](https://arxiv.org/pdf/2410.23860), Lenz et al., arxiv 2024 604 | 605 | - [TARS: Tactile Affordance in Robot Synesthesia for Dexterous Manipulation](https://ieeexplore.ieee.org/abstract/document/10766612), Wu et al., RAL 2024 606 | 607 | - [Image-Based Tactile Deformation Simulation and Pose Estimation for Robot Skill Learning](https://www.mdpi.com/2076-3417/15/3/1099), Fu et al., Applied Sciences 2025 608 | 609 | - [Multimodal and Force-Matched Imitation Learning With a See-Through Visuotactile Sensor](https://ieeexplore.ieee.org/document/10814647), Ablett et al., TRO 2024 610 | 611 | - [DIH-Tele: Dexterous In-Hand Teleoperation Framework for Learning Multiobjects Manipulation With Tactile Sensing](https://ieeexplore.ieee.org/document/10898061), Huang et al., TRANSACTIONS ON MECHATRONICS 2025 612 | 613 | - [Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation](https://arxiv.org/abs/2503.02881), Xue et al., arxiv 2025 614 | 615 | - [GelFusion: Enhancing Robotic Manipulation under Visual Constraints via Visuotactile Fusion](https://arxiv.org/pdf/2505.07455), Jiang et al., arxiv 2025 616 | 617 | - [PolyTouch: A Robust Multi-Modal Tactile Sensor for Contact-rich Manipulation Using Tactile-Diffusion Policies](https://arxiv.org/abs/2504.19341), Zhao et al., ICRA 2025 618 | 619 | - [FreeTacMan: Robot-free Visuo-Tactile Data Collection System for Contact-rich Manipulation](https://arxiv.org/pdf/2506.01941), Wu et al., arxiv 2025 620 | 621 | - [TactileAloha: Learning Bimanual Manipulation with Tactile Sensing](https://ieeexplore.ieee.org/document/11063285), Gu et al., RAL 2025 622 | 623 | - [SimShear: Sim-to-Real Shear-based Tactile Servoing](https://arxiv.org/pdf/2508.20561), Freud et al., arxiv 2025 624 | 625 | - [Reactive In-Air Clothing Manipulation with Confidence-Aware Dense Correspondence and Visuotactile Affordance](https://arxiv.org/pdf/2509.03889), Sunil et al., CoRL 2025 626 | 627 | - [Text2Touch: Tactile In-Hand Manipulation with LLM-Designed Reward Functions](https://arxiv.org/pdf/2509.07445), Field et al., arxiv 2025 628 | 629 | - [exUMI: Extensible Robot Teaching System with Action-aware Task-agnostic Tactile Representation](https://openreview.net/attachment?id=b86nyIOJWq&name=pdf), Xu et al., CoRL 2025 630 | 631 | - [Touch begins where vision ends: Generalizable policies for contact-rich manipulation](https://arxiv.org/pdf/2506.13762), Zhao et al., arxiv 2025 632 | 633 | 634 | 635 | ### Classification/Recognition 636 | - [Majority Voting: Material Classification by Tactile Sensing Using Surface Texture](https://ieeexplore.ieee.org/abstract/document/5756488), Jamali et al., TRO 2011 637 | 638 | - [Sensing and recognizing surface textures using a gelsight sensor](https://www.cv-foundation.org/openaccess/content_cvpr_2013/html/Li_Sensing_and_Recognizing_2013_CVPR_paper.html), Li et al., CVPR 2013 639 | 640 | - [Continuous material identification through tactile sensing](https://ieeexplore.ieee.org/abstract/document/7727852), Eguíluz et al., IJCNN 2016 641 | 642 | - [A multi-modal approach to continuous material identification through tactile sensing](https://ieeexplore.ieee.org/abstract/document/7759721), Eguíluz et al., IROS 2016 643 | 644 | - [Multimodal Material identification through recursive tactile sensing](https://www.sciencedirect.com/science/article/pii/S0921889017308618), Eguíluz et al., RAS 2018 645 | 646 | - [Connecting Look and Feel: Associating the visual and tactile properties of physical materials](https://openaccess.thecvf.com/content_cvpr_2017/html/Yuan_Connecting_Look_and_CVPR_2017_paper.html), Yuan et al., CVPR 2017 647 | 648 | - [Shape-independent hardness estimation using deep learning and a GelSight tactile sensor](https://ieeexplore.ieee.org/abstract/document/7989116), Yuan et al., ICRA 2017 649 | 650 | - [Vitac: Feature sharing between vision and tactile sensing for cloth texture recognition](https://ieeexplore.ieee.org/abstract/document/8460494), Yuan et al., ICRA 2018 651 | 652 | - [Active clothing material perception using tactile sensing and deep learning](https://ieeexplore.ieee.org/abstract/document/8461164), Yuan et al., ICRA 2018 653 | 654 | - [Understanding Dynamic Tactile Sensing for Liquid Property Estimation](https://arxiv.org/abs/2205.08771), Huang et al., arxiv 2022 655 | 656 | - [Visuotactile Affordances for Cloth Manipulation with Local Control](https://arxiv.org/abs/2212.05108), Sunil et al., arxiv 2022 657 | 658 | - [See, Hear, and Feel: Smart Sensory Fusion for Robotic Manipulation](https://arxiv.org/abs/2212.03858), Li et al., arxiv 2022 659 | 660 | - [TANDEM: Learning Joint Exploration and Decision Making With Tactile Sensors](https://ieeexplore.ieee.org/document/9839393), Xu et al., RAL 2022 661 | 662 | - [TANDEM3D: Active Tactile Exploration for 3D Object Recognition](https://arxiv.org/abs/2209.08772), Xu et al., ICRA 2023 663 | 664 | - [Multimodal Zero-Shot Learning for Tactile Texture Recognition](https://arxiv.org/abs/2306.12705), Cao et al., arxiv 2023 665 | 666 | - [Controllable Visual-Tactile Synthesis](https://arxiv.org/abs/2305.03051), Gao et al., arxiv 2023 667 | 668 | - [Estimating Properties of Solid Particles Inside Container Using Touch Sensing](https://arxiv.org/pdf/2307.15646.pdf), Guo et al., arxiv 2023 669 | 670 | - [Aerial Interaction with Tactile Sensing](https://arxiv.org/abs/2310.00142), Guo et al., arxiv 2023 671 | 672 | - [Sim2Real Bilevel Adaptation for Object Surface Classification using Vision-Based Tactile Sensors](https://arxiv.org/abs/2311.0380), Caddeo et al., arxiv 2023 673 | 674 | - [Dynamic Layer Detection of a Thin Silk Cloth using DenseTact Optical Tactile Sensors](https://arxiv.org/pdf/2409.09849), Chungyoun et al., arxiv 2024 675 | 676 | - [Sim2Surf: a Sim2Real Surface Classifier for Vision-Based Tactile Sensors with a Bilevel Adaptation Pipeline](https://ieeexplore.ieee.org/abstract/document/10851808), Caddeo et al., IEEE Sensors 2025 677 | 678 | - [RA-Touch: Retrieval-Augmented Touch Understanding with Enriched Visual Data](https://arxiv.org/pdf/2505.14270), Cho et al., ACM MM 2025 679 | 680 | 681 | ### Mapping/Localization 682 | - [Tracking objects with point clouds from vision and touch](https://ieeexplore.ieee.org/abstract/document/7989460), Izatt et al., ICRA 2017 683 | 684 | - [3D Shape Perception from Monocular Vision, Touch, and Shape Priors](https://ieeexplore.ieee.org/abstract/document/8593430), Wang et al., IROS 2018 685 | 686 | - [End-to-end pixelwise surface normal estimation with convolutional neural networks and shape reconstruction using GelSight sensor](https://ieeexplore.ieee.org/abstract/document/8593430), Li et al., ROBIO 2018 687 | 688 | - [From Pixels to Percepts: Highly Robust Edge Perception and Contour Following Using Deep Learning and an Optical Biomimetic Tactile Sensor](https://ieeexplore.ieee.org/abstract/document/8641397), Lepora et al., RAL 2019 689 | 690 | - [Convolutional Autoencoder for Feature Extraction in Tactile Sensing](https://ieeexplore.ieee.org/abstract/document/8758942), Polic et al., RAL 2019 691 | 692 | - [Tactile Mapping and Localization from High-Resolution Tactile Imprints](https://ieeexplore.ieee.org/abstract/document/8794298), Bauza et al., ICRA 2019 693 | 694 | - [Fast Model-Based Contact Patch and Pose Estimation for Highly Deformable Dense-Geometry Tactile Sensors](https://ieeexplore.ieee.org/document/8936859), Kuppuswamy et al., RAL 2020 695 | 696 | - [Deep Gated Multi-modal Learning: In-hand Object Pose Changes Estimation using Tactile and Image Data](https://ieeexplore.ieee.org/abstract/document/9341799), Anzai et al., IROS 2020 697 | 698 | - [3D Shape Reconstruction from Vision and Touch](https://proceedings.neurips.cc/paper/2020/hash/a3842ed7b3d0fe3ac263bcabd2999790-Abstract.html), Smith et al., NeurIPS 2020 699 | 700 | - [Tactile SLAM: Real-time inference of shape and pose from planar pushing](https://ieeexplore.ieee.org/abstract/document/9562060), Suresh et al., ICRA 2021 701 | 702 | - [Tactile Object Pose Estimation from the First Touch with Geometric Contact Rendering](https://proceedings.mlr.press/v155/villalonga21a.html), Bauza et al., CoRL 2021 703 | 704 | - [Active 3D Shape Reconstruction from Vision and Touch](https://proceedings.neurips.cc/paper/2021/hash/8635b5fd6bc675033fb72e8a3ccc10a0-Abstract.html), Smith et al., NeurIPS 2021 705 | 706 | - [Active Visuo-Tactile Point Cloud Registration for Accurate Pose Estimation of Objects in an Unknown Workspace](https://arxiv.org/abs/2108.04015), Murali et al., arxiv 2021 707 | 708 | - [Learning Tactile Models for Factor Graph-based Estimation](https://ieeexplore.ieee.org/abstract/document/9561011), Sodhi et al., ICRA 2021 709 | 710 | - [Tac2Pose: Tactile Object Pose Estimation from the First Touch](https://arxiv.org/abs/2204.11701), Bauza et al., arxiv 2022 711 | 712 | - [ShapeMap 3-D: Efficient shape mapping through dense touch and vision](https://ieeexplore.ieee.org/abstract/document/9812040), Suresh et al., ICRA 2022 713 | 714 | - [PatchGraph: In-hand tactile tracking with learned surface normals](https://ieeexplore.ieee.org/abstract/document/9811953), Sodhi et al., ICRA 2022 715 | 716 | - [MidasTouch: Monte-Carlo inference over distributions across sliding touch](https://openreview.net/forum?id=JWROnOf4w-K), Suresh et al., CoRL 2022 717 | 718 | - [Enhancing Generalizable 6D Pose Tracking of an In-Hand Object with Tactile Sensing](https://arxiv.org/abs/2210.04026), Xu et al., arxiv 2022 719 | 720 | - [Using Collocated Vision and Tactile Sensors for Visual Servoing and Localization](https://arxiv.org/abs/2204.11686), Chaudhury et al., arxiv 2022 721 | 722 | - [Simultaneous Contact Location and Object Pose Estimation Using Proprioception and Tactile Feedback](https://arxiv.org/abs/2206.01245), Sipos et al., arxiv 2022 723 | 724 | - [VisuoTactile 6D Pose Estimation of an In-Hand Object Using Vision and Tactile Sensor Data](https://ieeexplore.ieee.org/abstract/document/9682507), Dikhale et al., RAL 2022 725 | 726 | - [In-Hand Pose Estimation Using Hand-Mounted RGB Cameras and Visuotactile Sensors](https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10043666), Gao et al., IEEE 2023 727 | 728 | - [Tac2Structure: Object Surface Reconstruction Only Through Multi Times Touch](https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10021601), Lu et al., RAL 2023 729 | 730 | - [Tac-VGNN: A Voronoi Graph Neural Network for Pose-Based Tactile Servoing](https://arxiv.org/abs/2303.02708), Fan et al., arxiv 2023 731 | 732 | - [FingerSLAM: Closed-loop Unknown Object Localization and Reconstruction from Visuo-tactile Feedback](https://arxiv.org/abs/2303.07997), Zhao et al., arxiv 2023 733 | 734 | - [TactoFind: A Tactile Only System for Object Retrieval](https://arxiv.org/abs/2303.13482), Pai et al., arxiv 2023 735 | 736 | - [Touch if it's transparent! ACTOR: Active Tactile-based Category-Level Transparent Object Reconstruction](https://arxiv.org/abs/2307.16254), Murali et al., arxiv 2023 737 | 738 | - [ViHOPE: Visuotactile In-Hand Object 6D Pose Estimation with Shape Completion](https://ieeexplore.ieee.org/abstract/document/10246361), Li et al., RAL 2023 739 | 740 | - [Sliding Touch-based Exploration for Modeling Unknown Object Shape with Multi-fingered Hands](https://arxiv.org/pdf/2308.00576.pdf), Chen et al., IROS 2023 741 | 742 | - [Collision-aware In-hand 6D Object Pose Estimation using Multiple Vision-based Tactile Sensors](https://ieeexplore.ieee.org/document/10160359), Caddeo et al., ICRA 2023 743 | 744 | - [Tactile-Filter: Interactive Tactile Perception for Part Mating](https://arxiv.org/abs/2303.06034), Ota et al., RSS 2023 745 | 746 | - [Enhanced Information Extraction from Cylindrical Visual-Tactile Sensors via Image Fusion](https://arxiv.org/abs/2311.04002), Li et al., arxiv 2023 747 | 748 | - [TouchSDF: A DeepSDF Approach for 3D Shape Reconstruction using Vision-Based Tactile Sensing](https://arxiv.org/abs/2311.12602), Comi et al., arxiv 2023 749 | 750 | - [Grasping, Part Identification, and Pose Refinement in One Shot with a Tactile Gripper](https://arxiv.org/abs/2312.17650), Lim et al., arxiv 2023 751 | 752 | - [Measuring Object Rotation via Visuo-Tactile Segmentation of Grasping Region](https://ieeexplore.ieee.org/abstract/document/10149493), Castano-Amoros et al., RAL 2023 753 | 754 | - [TransTouch: Learning Transparent Objects Depth Sensing Through Sparse Touches](https://ieeexplore.ieee.org/abstract/document/10341417), Bian et al., IROS 2023 755 | 756 | - [Snap-it, Tap-it, Splat-it: Tactile-Informed 3D Gaussian Splatting for Reconstructing Challenging Surfaces](https://arxiv.org/pdf/2403.20275), Comi et al., arxiv 2024 757 | 758 | - [Tactile-Augmented Radiance Fields](https://arxiv.org/abs/2405.04534), Dou et al., CVPR 2024 759 | 760 | - [Touch-GS: Visual-Tactile Supervised 3D Gaussian Splatting](https://arxiv.org/pdf/2403.09875), Swann et al., arxiv 2024 761 | 762 | - [HyperTaxel: Hyper-Resolution for Taxel-Based Tactile Signals Through Contrastive Learning](https://arxiv.org/pdf/2408.08312), Li et al., arxiv 2024 763 | 764 | - [NormalFlow: Fast, Robust, and Accurate Contact-based Object 6DoF Pose Tracking with Vision-based Tactile Sensors](https://ieeexplore.ieee.org/abstract/document/10766628), Huang et al., RAL 2024 765 | 766 | - [GelSLAM: A Real-time, High-Fidelity, and Robust 3D Tactile SLAM System](https://arxiv.org/pdf/2508.15990), Huang et al., arxiv 2025 767 | 768 | - [UniTac2Pose: A Unified Approach Learned in Simulation for Category-level Visuotactile In-hand Pose Estimation](https://openreview.net/attachment?id=DiyLz91PKF&name=pdf), Wu et al., CoRL 2025 769 | 770 | 771 | 772 | ### Extrinsic Contact Sensing 773 | - [Extrinsic Contact Sensing with Relative-Motion Tracking from Distributed Tactile Measurements](https://ieeexplore.ieee.org/abstract/document/9561781), Ma et al., ICRA 2021 774 | 775 | - [Simultaneous Tactile Estimation and Control of Extrinsic Contact](https://arxiv.org/abs/2303.03385), Kim et al., ICRA 2023 776 | 777 | - [Neural Contact Fields: Tracking Extrinsic Contact with Tactile Sensing](http://arxiv.org/abs/2210.09297), Higuera et al., ICRA 2023 778 | 779 | - [Perceiving Extrinsic Contacts from Touch Improves Learning Insertion Policies](https://arxiv.org/abs/2309.16652), Higuera et al., arxiv 2023 780 | 781 | - [Simultaneous Tactile Estimation and Control for Extrinsic Dexterity](https://arxiv.org/abs/2401.10230), Bronars et al., arxiv 2023 782 | 783 | - [TEXterity: Tactile Extrinsic deXterity](https://arxiv.org/abs/2401.10230), Bronars et al., arxiv 2024 784 | 785 | - [Visual-auditory Extrinsic Contact Estimation](https://arxiv.org/pdf/2409.14608), Yi et al., arxiv 2024 786 | 787 | - [ViTaSCOPE: Visuo-tactile Implicit Representation for In-hand Pose and Extrinsic Contact Estimation](https://arxiv.org/pdf/2506.12239), Lee et al., RSS 2025 788 | 789 | 790 | ### Image Generation 791 | - [Deep Tactile Experience: Estimating Tactile Sensor Output from Depth Sensor Data](https://ieeexplore.ieee.org/abstract/document/9341596), Patel et al., IROS 2020 792 | 793 | - [Touching a NeRF: Leveraging Neural Radiance Fields for Tactile Sensory Data Generation](https://openreview.net/pdf?id=No3mbanRlZJ), Zhong et al., CoRL 2022 794 | 795 | - [Vis2Hap: Vision-based Haptic Rendering by Cross-modal Generation](https://arxiv.org/abs/2301.06826.pdf), Cao et al., ICRA 2023 796 | 797 | - [Learning to Read Braille: Bridging the Tactile Reality Gap with Diffusion Models](https://arxiv.org/abs/2304.01182.pdf), Higuera et al., ICRA 2023 798 | 799 | - [Marker-Embedded Tactile Image Generation via Generative Adversarial Networks](https://ieeexplore.ieee.org/document/10146407), Kim et al., RAL 2023 800 | 801 | - [Generating Visual Scenes from Touch](https://openaccess.thecvf.com/content/ICCV2023/html/Yang_Generating_Visual_Scenes_from_Touch_ICCV_2023_paper.html), Yang et al., ICCV 2023 802 | 803 | - [Touch2Touch: Cross-Modal Tactile Generation for Object Manipulation](https://arxiv.org/pdf/2409.08269), Rodriguez et al., arxiv 2024 804 | 805 | - [Tactile DreamFusion: Exploiting Tactile Sensing for 3D Generation](https://openreview.net/pdf?id=fA3RMMl8ii), Gao et al., NeurIPS 2024 806 | 807 | - [CONTROLTAC: Force- and Position-Controlled Tactile Data Augmentation with a Single Reference Image](https://arxiv.org/pdf/2505.20498), Luo et al., arxiv 2025 808 | 809 | - [Cross-Sensor Touch Generation](https://openreview.net/attachment?id=oGcC8nMOit&name=pdf), Rodriguez et al., CoRL 2025 810 | 811 | 812 | ### Representation Learning 813 | - [Touch and Go: Learning from Human-Collected Vision and Touch](https://openreview.net/forum?id=ZZ3FeSSPPblo), Yang et al., NeurIPS 2022 814 | 815 | - [Dexterity from Touch: Self-Supervised Pre-Training of Tactile Representations with Robotic Play](https://arxiv.org/abs/2303.12076), Guzey et al., arxiv 2023 816 | 817 | - [Investigating Vision Foundational Models for Tactile Representation Learning](https://arxiv.org/abs/2305.00596), Zandonati et al., arxiv 2023 818 | 819 | - [Binding Touch to Everything: Learning Unified Multimodal Tactile Representations](https://arxiv.org/abs/2401.18084), Yang et al., CVPR 2024 820 | 821 | - [Multimodal Visual-Tactile Representation Learning through Self-Supervised Contrastive Pre-Training](https://arxiv.org/abs/2401.12024), Dave et al., arxiv 2024 822 | 823 | - [Touch100k: A Large-Scale Touch-Language-Vision Dataset for Touch-Centric Multimodal Representation](https://arxiv.org/pdf/2406.03813), Cheng et al., arxiv 2024 824 | 825 | - [Marker or Markerless? Mode-Switchable Optical Tactile Sensing for Diverse Robot Tasks](https://arxiv.org/pdf/2408.08276), Ou et al., arxiv 2024 826 | 827 | - [Tactile Functasets: Neural Implicit Representations of Tactile Datasets](https://arxiv.org/pdf/2409.14592), Li et al., arxiv 2024 828 | 829 | - [Contrastive Touch-to-Touch Pretraining](https://arxiv.org/pdf/2410.11834), Rodriguez et al., arxiv 2024 830 | 831 | - [T3: Transferable Tactile Transformers](https://arxiv.org/abs/2406.13640), Zhao et al., arxiv 2024 832 | 833 | - [UniT: Unified Tactile Representation for Robot Learning](https://arxiv.org/pdf/2408.06481), Xu et al., arxiv 2024 834 | 835 | - [Sparsh: Self-supervised touch representations for vision-based tactile sensing](https://arxiv.org/pdf/2410.24090), Higuera et al., arxiv 2024 836 | 837 | - [Touch-to-Touch Translation - Learning the Mapping Between Heterogeneous Tactile Sensing Technologies](https://arxiv.org/pdf/2411.02187), Grella et al., arxiv 2024 838 | 839 | - [Reducing Cross-Sensor Domain Gaps in Tactile Sensing via Few-Sample-Driven Style-to-Content Unsupervised Domain Adaptation](https://www.mdpi.com/1424-8220/25/1/2567), Jing et al., MDPI Sensors 2025 840 | 841 | - [Canonical Representation and Force-Based Pretraining of 3D Tactile for Dexterous Visuo-Tactile Policy Learning](https://arxiv.org/pdf/2409.17549), Wu et al., arxiv 2024 842 | 843 | - [AnyTouch: Learning Unified Static-Dynamic Representation across Multiple Visuo-tactile Sensors](https://arxiv.org/abs/2502.12191), Feng et al., ICLR 2025 844 | 845 | - [UniTac-NV: A Unified Tactile Representation For Non-Vision-Based Tactile Sensors](https://arxiv.org/pdf/2506.19699), Hou et al., arxiv 2025 846 | 847 | - [ConViTac: Aligning Visual-Tactile Fusion with Contrastive Representations](https://arxiv.org/pdf/2506.20757), Wu et al., arxiv 2025 848 | 849 | 850 | ### Force Estimation 851 | - [Dense Tactile Force Estimation using GelSlim and inverse FEM](https://ieeexplore.ieee.org/abstract/document/8794113), Ma et al., ICRA 2019 852 | 853 | - [Sensing Shear Forces During Food Manipulation: Resolving the Trade-Off Between Range and Sensitivity](https://ieeexplore.ieee.org/document/8794350), Song et al., ICRA 2019 854 | 855 | - [3D Force and Contact Estimation for a Soft-Bubble Visuotactile Sensor Using FEM](https://arxiv.org/abs/2310.11372), Peng et al., arxiv 2023 856 | 857 | - [A Predictive Model for Tactile Force Estimation using Audio-Tactile Data](https://ieeexplore.ieee.org/abstract/document/10347357), Niederhauser et al., RAL 2023 858 | 859 | - [Deep Domain Adaptation Regression for Force Calibration of Optical Tactile Sensors](https://arxiv.org/pdf/2407.14380), Chen et al., arxiv 2024 860 | 861 | - [FeelAnyForce: Estimating Contact Force Feedback from Tactile Sensation for Vision-Based Tactile Sensors](https://arxiv.org/pdf/2410.02048), Shahidzadeh et al., arxiv 2024 862 | 863 | - [TransForce: Transferable Force Prediction for Vision-based Tactile Sensors with Sequential Image Translation](https://arxiv.org/pdf/2409.09870), Chen et al., arxiv 2024 864 | 865 | - [Grasping Force Estimation for Markerless Visuotactile Sensors](https://arxiv.org/pdf/2410.22825), Amoros et al., arxiv 2024 866 | 867 | - [Interaction force estimation for tactile sensor arrays: Toward tactile-based interaction control for robotic fingers](https://arxiv.org/pdf/2411.13335), Chelly et al., arxiv 2024 868 | 869 | - [iFEM2.0: Dense 3D Contact Force Field Reconstruction and Assessment for Vision-Based Tactile Sensors](https://ieeexplore.ieee.org/abstract/document/10758225), Zhao et al., TRO 2024 870 | 871 | - [TensorTouch: Calibration of Tactile Sensors for High Resolution Stress Tensor and Deformation for Dexterous Manipulation](https://arxiv.org/pdf/2506.08291), Do et al., arxiv 2025 872 | 873 | ### LLM/VLM/VLA 874 | - [A Touch, Vision, and Language Dataset for Multimodal Alignment](https://arxiv.org/abs/2402.13232), Fu et al., arxiv 2024 875 | 876 | - [Binding Touch to Everything: Learning Unified Multimodal Tactile Representations](https://arxiv.org/abs/2401.18084), Yang et al., CVPR 2024 877 | 878 | - [Octopi: Object Property Reasoning with Large Tactile-Language Models](https://arxiv.org/pdf/2405.02794), Yu et al., RSS 2024 879 | 880 | - [Touch100k: A Large-Scale Touch-Language-Vision Dataset for Touch-Centric Multimodal Representation](https://arxiv.org/pdf/2406.03813), Cheng et al., arxiv 2024 881 | 882 | - [CLTP: Contrastive Language-Tactile Pre-training for 3D Contact Geometry Understanding](https://arxiv.org/pdf/2505.08194), Ma et al., arxiv 2025 883 | 884 | - [Demonstrating the Octopi-1.5 Visual-Tactile-Language Model](https://arxiv.org/pdf/2507.09985), Yu et al., RSS 2025 885 | 886 | - [Tactile-VLA: Unlocking Vision-Language-Action Model's Physical Knowledge for Tactile Generalization](https://arxiv.org/pdf/2507.09160), Huange et al., arxiv 2025 887 | 888 | - [Universal Visuo-Tactile Video Understanding for Embodied Interaction](https://arxiv.org/pdf/2505.22566), Xie et al., arxiv 2025 889 | 890 | - [OmniVTLA: Vision-Tactile-Language-Action Model with Semantic-Aligned Tactile Sensing](https://arxiv.org/pdf/2508.08706), Cheng et al., arxiv 2025 891 | 892 | - [Text2Touch: Tactile In-Hand Manipulation with LLM-Designed Reward Functions](https://arxiv.org/pdf/2509.07445), Field et al., arxiv 2025 893 | 894 | 895 | ### Dexterous Manipulation 896 | - [All the Feels: A dexterous hand with large-area tactile sensing](https://arxiv.org/pdf/2210.15658), Bhirangi et al., arxiv 2022 897 | 898 | - [Learning Purely Tactile In-Hand Manipulation with a Torque-Controlled Hand](https://arxiv.org/abs/2204.03698), Sievers et al., ICRA 2022 899 | 900 | - [Sampling-based Exploration for Reinment Learning of Dexterous Manipulation](https://arxiv.org/abs/2303.03486), Khandate et al., arxiv 2023 901 | 902 | - [Rotating without Seeing: Towards In-hand Dexterity through Touch](https://arxiv.org/abs/2303.10880), Yin et al., arxiv 2023 903 | 904 | - [Dexterity from Touch: Self-Supervised Pre-Training of Tactile Representations with Robotic Play](https://arxiv.org/abs/2303.12076), Guzey et al., arxiv 2023 905 | 906 | - [See to Touch: Learning Tactile Dexterity through Visual Incentives](https://arxiv.org/abs/2309.12300), Guzey et al., arxiv 2023 907 | 908 | - [TacGNN: Learning Tactile-based In-hand Manipulation with a Blind Robot using Hierarchical Graph Neural Network](https://arxiv.org/pdf/2304.00736.pdf), Yang et al., arxiv 2023 909 | 910 | - [General In-Hand Object Rotation with Vision and Touch](https://arxiv.org/abs/2309.09979), Qi et al., arxiv 2023 911 | 912 | - [Dextrous Tactile In-Hand Manipulation Using a Modular Reinment Learning Architecture](https://arxiv.org/abs/2303.04705), Pitz et al., ICRA 2023 913 | 914 | - [Estimator-Coupled Reinforcement Learning for Robust Purely Tactile In-Hand Manipulation](https://arxiv.org/abs/2311.04060), Röstel et al., Humanoids 2023 915 | 916 | - [Tactile SoftHand-A: 3D-Printed, Tactile, Highly-underactuated, Anthropomorphic Robot Hand with an Antagonistic Tendon Mechanism](https://arxiv.org/pdf/2406.12731), Li et al., arxiv 2024 917 | 918 | - [Learning a Shape-Conditioned Agent for Purely Tactile In-Hand Manipulation of Various Objects](https://arxiv.org/abs/2407.18834), Pitz et al., IROS 2024 919 | 920 | - [Learning Time-Optimal and Speed-Adjustable Tactile In-Hand Manipulation](http://arxiv.org/abs/2411.13148), Pitz et al., Humanoids 2024 921 | 922 | - [Visuotactile-Based Learning for Insertion with Compliant Hands](https://arxiv.org/pdf/2411.06408), Azulay et al., arxiv 2024 923 | 924 | - [PP-Tac: Paper Picking Using Tactile Feedback in Dexterous Robotic Hands](https://arxiv.org/abs/2504.16649), Lin et al., RSS 2025 925 | 926 | 927 | ### Data Collection 928 | - [MimicTouch: Leveraging Multi-modal Human Tactile Demonstrations for Contact-rich Manipulation](https://arxiv.org/pdf/2310.16917), Yu et al., CoRL 2024 929 | 930 | - [Learning Visuotactile Skills with Two Multifingered Hands](https://arxiv.org/pdf/2404.16823), Lin et al., arxiv 2024 931 | 932 | - [ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data](https://arxiv.org/pdf/2406.19464?), Liu et al., CoRL 2024 933 | 934 | - [3D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensing](https://arxiv.org/pdf/2410.24091), Huang et al., CoRL 2024 935 | 936 | - [Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning](https://arxiv.org/pdf/2407.03162), Ding et al., arxiv 2024 937 | 938 | - [Learning Precise, Contact-Rich Manipulation through Uncalibrated Tactile Skins](https://arxiv.org/pdf/2410.17246), Pattabiraman et al., arxiv 2024 939 | 940 | - [Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation](https://arxiv.org/pdf/2503.02881), Xue et al., RSS 2025 941 | 942 | - [DOGlove: Dexterous Manipulation with a Low-Cost Open-Source Haptic Force Feedback Glove](https://arxiv.org/pdf/2502.07730), Zhang et al., RSS 2025 943 | 944 | - [FACTR: Force-Attending Curriculum Training for Contact-Rich Policy Learning](https://arxiv.org/pdf/2502.17432), Liu et al., RSS 2025 945 | 946 | - [TacCap: A Wearable FBG-Based Tactile Sensor for Seamless Human-to-Robot Skill Transfer](https://arxiv.org/pdf/2503.01789), Xing et al., arxiv 2025 947 | 948 | - [ViTaMIn: Learning Contact-Rich Tasks Through Robot-Free Visuo-Tactile Manipulation Interface](https://arxiv.org/pdf/2504.06156), Liu et al., arxiv 2025 949 | 950 | - [TactileAloha: Learning Bimanual Manipulation With Tactile Sensing](https://ieeexplore.ieee.org/document/11063285), Gu et al., RAL 2025 951 | 952 | - [PolyTouch: A Robust Multi-Modal Tactile Sensor for Contact-rich Manipulation Using Tactile-Diffusion Policies](https://arxiv.org/pdf/2504.19341), Zhao et al., ICRA 2025 953 | 954 | - [GelFusion: Enhancing Robotic Manipulation under Visual Constraints via Visuotactile Fusion](https://arxiv.org/pdf/2505.07455), Jiang et al., arxiv 2025 955 | 956 | - [FreeTacMan: Robot-free Visuo-Tactile Data Collection System for Contact-rich Manipulation](https://arxiv.org/pdf/2506.01941), Wu et al., arxiv 2025 957 | 958 | - [DEXOP: A Device for Robotic Transfer of Dexterous Human Manipulation](https://arxiv.org/pdf/2509.04441), Fang et al., arxiv 2025 959 | 960 | - [ViTacFormer: Learning Cross-Modal Representation for Visuo-Tactile Dexterous Manipulation](https://arxiv.org/pdf/2506.15953), Heng et al., arxiv 2025 961 | 962 | - [DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation](https://arxiv.org/pdf/2505.21864), Xu et al., CoRL 2025 963 | 964 | - [DEXOP: A Device for Robotic Transfer of Dexterous Human Manipulation](https://arxiv.org/pdf/2509.04441), Fang et al., arxiv 2025 965 | 966 | - [exUMI: Extensible Robot Teaching System with Action-aware Task-agnostic Tactile Representation](https://openreview.net/attachment?id=b86nyIOJWq&name=pdf), Xu et al., CoRL 2025 967 | 968 | - [ViTaMIn-B: A Reliable and Efficient Visuo-Tactile Bimanual Manipulation Interface](https://arxiv.org/pdf/2511.05858), Li et al., arxiv 2025 969 | 970 | - [Simultaneous Tactile-Visual Perception for Learning Multimodal Robot Manipulation](https://arxiv.org/pdf/2512.09851), Li et al., arxiv 2025 971 | 972 | 973 | ### Tactile Policies for Legged Robots 974 | - [LocoTouch: Learning Dynamic Quadrupedal Transport with Tactile Sensing](https://arxiv.org/abs/2505.23175), Lin et al., CoRL 2025 975 | 976 | 977 | ### Others 978 | - [Exploiting Distributed Tactile Sensors to Drive a Robot Arm Through Obstacles](https://ieeexplore.ieee.org/abstract/document/9384158), Albini et al., RAL 2021 979 | 980 | - [Extended Tactile Perception: Vibration Sensing through Tools and Grasped Objects](https://ieeexplore.ieee.org/abstract/document/9636677), Taunyazov et al., IROS 2021 981 | 982 | - [MidasTouch: Monte-Carlo inference over distributions across sliding touch](https://openreview.net/forum?id=JWROnOf4w-K), Suresh et al., CoRL 2022 983 | 984 | - [SLURP! Spectroscopy of Liquids Using Robot Pre-Touch Sensing](https://arxiv.org/abs/2210.04941), Hanson et al., arxiv 2022 985 | 986 | - [Learning to Synthesize Volumetric Meshes from Vision-based Tactile Imprints](https://arxiv.org/abs/2203.15155v1), Zhu et al., arxiv 2022 987 | 988 | - [Going In Blind: Object Motion Classification using Distributed Tactile Sensing for Safe Reaching in Clutter](https://arxiv.org/abs/2210.00137), Thomasson et al., arxiv 2022 989 | 990 | - [Development and Evaluation of a Learning-based Model for Real-time Haptic Texture Rendering](https://arxiv.org/abs/2212.13332), Heravi et al., arxiv 2022 991 | 992 | - [In-situ Mechanical Calibration for Vision-based Tactile Sensors](https://ieeexplore.ieee.org/document/10161153), Zhao et al., ICRA 2023 993 | 994 | - [Low-Cost Teleoperation with Haptic Feedback through Vision-based Tactile Sensors for Rigid and Soft Object Manipulation](https://arxiv.org/pdf/2403.16764), Lippi et al., arxiv 2024 995 | 996 | - [Real-Time Reconstruction of 3-D Tactile Motion Field via Multitask Learning](https://ieeexplore.ieee.org/document/10522992), Liu et al., Transactions on Instrumentation and Measurement 2024 997 | 998 | - [Tactile Elastography](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=11027485), Xiang et al., TRO 2025 999 | 1000 | - [Active Perception for Tactile Sensing: A Task-Agnostic Attention-Based Approach](https://arxiv.org/pdf/2505.06182), Schneider et al., arxiv 2025 1001 | 1002 | - [Tactile MNIST: Benchmarking Active Tactile Perception](https://arxiv.org/pdf/2506.06361), Schneider et al., arxiv 2025 1003 | 1004 | - [SuperMag: Vision-based Tactile Data Guided High-resolution Tactile Shape Reconstruction for Magnetic Tactile Sensors](https://arxiv.org/pdf/2507.20002), Hou et al., arxiv 2025 1005 | 1006 | - [Benchmarking Resilience and Sensitivity of Polyurethane-Based Vision-Based Tactile Sensors](https://arxiv.org/pdf/2511.07797), Davis et al., arxiv 2025 1007 | 1008 | 1009 | 1010 | ## Software 1011 | 1012 | ### Simulator 1013 | - [Generation of GelSight Tactile Images for Sim2Real Learning](https://ieeexplore.ieee.org/abstract/document/9369877), Gomes et al., RAL 2021 1014 | 1015 | - [Simulation of Vision-based Tactile Sensors using Physics based Rendering](https://ieeexplore.ieee.org/document/9561122), Agarwal et al., ICRA 2021 1016 | 1017 | - [Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections](https://ieeexplore.ieee.org/abstract/document/9561969), Narang et al., ICRA 2021 1018 | 1019 | - [Tactile Sim-to-Real Policy Transfer via Real-to-Sim Image Translation](https://openreview.net/forum?id=2NcPgLa7yqD), Church et al., CoRL 2021 1020 | 1021 | - [Tactile Gym 2.0: Sim-to-Real Deep Reinforcement Learning for Comparing Low-Cost High-Resolution Robot Touch](https://ieeexplore.ieee.org/abstract/document/9847020), Lin et al., RAL 2022 1022 | 1023 | - [TACTO: A Fast, Flexible, and Open-Source Simulator for High-Resolution Vision-Based Tactile Sensors](https://ieeexplore.ieee.org/abstract/document/9697425), Wang et al., RAL 2022 1024 | 1025 | - [Taxim: An Example-Based Simulation Model for GelSight Tactile Sensors](https://ieeexplore.ieee.org/abstract/document/9681378), Si et al., RAL 2022 1026 | 1027 | - [Bidirectional Sim-to-Real Transfer for GelSight Tactile Sensors With CycleGAN](https://ieeexplore.ieee.org/abstract/document/9756938), Chen et al., RAL 2022 1028 | 1029 | - [Learning the Dynamics of Compliant Tool-Environment Interaction for Visuo-Tactile Contact Servoing](https://arxiv.org/abs/2210.03836), Merwe et al., arxiv 2022 1030 | 1031 | - [Efficient Tactile Simulation with Differentiability for Robotic Manipulation](https://openreview.net/forum?id=6BIffCl6gsM), Xu et al., CoRL 2022 1032 | 1033 | - [Tacchi: A Pluggable and Low Computational Cost Elastomer Deformation Simulator for Optical Tactile Sensors](https://ieeexplore.ieee.org/abstract/document/10017344), Chen et al., RAL 2023 1034 | 1035 | - [Unsupervised Adversarial Domain Adaptation for Sim-to-Real Transfer of Tactile Images](https://ieeexplore.ieee.org/abstract/document/10106009), Jing et al., Transactions on Instrumentation and Measurement 2023 1036 | 1037 | - [Beyond Flat GelSight Sensors: Simulation of Optical Tactile Sensors of Complex Morphologies for Sim2Real Learning](https://arxiv.org/pdf/2305.12605.pdf), Gomes et al., RSS 2023 1038 | 1039 | - [Marker-Embedded Tactile Image Generation via Generative Adversarial Networks](https://ieeexplore.ieee.org/abstract/document/10146407), Kim et al., RAL 2023 1040 | 1041 | - [Augmenting Tactile Simulators with Real-like and Zero-Shot Capabilities](https://arxiv.org/abs/2309.10409), Azulay et al., RAL 2023 1042 | 1043 | - [Tactile Imprint Simulation of GelStereo Visuotactile Sensors](https://ieeexplore.ieee.org/abstract/document/10216245), Cui et al., ICMA 2023 1044 | 1045 | - [TacIPC: Intersection- and Inversion-free FEM-based Elastomer Simulation For Optical Tactile Sensors](https://arxiv.org/abs/2311.05843), Du et al., arxiv 2023 1046 | 1047 | - [General-Purpose Sim2Real Protocol for Learning Contact-Rich Manipulation With Marker-Based Visuotactile Sensors](https://ieeexplore.ieee.org/document/10388459/), Chen et al., TRO 2024 1048 | 1049 | - [FOTS: A Fast Optical Tactile Simulator for Sim2Real Learning of Tactile-motor Robot Manipulation Skills](https://arxiv.org/pdf/2404.19217), Zhao et al., arxiv 2024 1050 | 1051 | - [Simulation of Optical Tactile Sensors Supporting Slip and Rotation using Path Tracing and IMPM](https://arxiv.org/pdf/2405.02914), Shen et al., arxiv 2024 1052 | 1053 | - [Optimizing BioTac Simulation for Realistic Tactile Perception](https://arxiv.org/abs/2404.10425), Zai El Amri and Navarro-Guerrero, IJCNN 2024 1054 | 1055 | - [DIFFTACTILE: A Physics-based Differentiable Tactile Simulator for Contact-rich Robotic Manipulation](https://arxiv.org/abs/2403.08716), Si et al., ICLR 2024 1056 | 1057 | - [TacEx: GelSight Tactile Simulation in Isaac Sim – Combining Soft-Body and Visuotactile Simulators](https://arxiv.org/pdf/2411.04776), Nguyen et al., CoRL 2024 1058 | 1059 | - [Zero-Shot Sim2Real Measurement for Neuromorphic Vision-Based Tactile Sensors](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=10680346&tag=1), Salah et al., Transactions on Instrumentation and Measurement 2024 1060 | 1061 | - [Image-Based Tactile Deformation Simulation and Pose Estimation for Robot Skill Learning](https://www.mdpi.com/2076-3417/15/3/1099), Fu et al., Apply Sciences 2025 1062 | 1063 | - [TacFlex: Multi-Mode Tactile Imprints Simulation for Visuotactile Sensors with Coating Patterns](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=11024236), Zhang et al., TRO 2025 1064 | 1065 | - [Taccel: Scaling Up Vision-based Tactile Robotics via High-performance GPU Simulation](https://arxiv.org/abs/2504.12908), Li et al., NeurIPS 2025 1066 | 1067 | - [ACROSS: A Deformation-Based Cross-Modal Representation for Robotic Tactile Perception](https://arxiv.org/abs/2411.08533), Zai El Amri et al., ICRA 2025 1068 | 1069 | ### Library 1070 | - [PyTouch: A Machine Learning Library for Touch Processing](https://ieeexplore.ieee.org/abstract/document/9561084), Lambeta et al., ICRA 2021 1071 | 1072 | - [TacSL: A Library for Visuotactile Sensor Simulation and Learning](https://arxiv.org/pdf/2408.06506), Akinola et al., arxiv 2024 1073 | 1074 | - [PneuGelSight: Soft Robotic Vision-Based Proprioception and Tactile Sensing](https://arxiv.org/pdf/2508.18443), Zhang et al., arxiv 2025 1075 | 1076 | ## Review 1077 | - [Artificial Sense of Slip—A Review](https://ieeexplore.ieee.org/document/6479676), Francomano et al., IEEE Sensors 2013 1078 | 1079 | - [Tactile sensing in dexterous robot hands — Review](https://www.sciencedirect.com/science/article/pii/S0921889015001621), Kappassov et al., Robotics and Autonomous Systems 2015 1080 | 1081 | - [Tactile Image Sensors Employing Camera: A Review](https://www.mdpi.com/1424-8220/19/18/3933), Shimonomura et al., MDPI Sensors 2019 1082 | 1083 | - [Tactile Sensors for Advanced Intelligent Systems](https://onlinelibrary.wiley.com/doi/full/10.1002/aisy.201900090), Wang et al., Advanced Intelligent Systems 2019 1084 | 1085 | - [Visuotactile Sensors With Emphasis on GelSight Sensor: A Review](https://ieeexplore.ieee.org/document/9028163), C. Abad et al., IEEE Sensors 2020 1086 | 1087 | - [On the Design and Development of Vision-based Tactile Sensors](https://link.springer.com/article/10.1007/s10846-021-01431-0), Shah et al., JINT 2021 1088 | 1089 | - [A survey of visuotactile sensing technologies for robotic manipulation](http://www.infocomm-journal.com/znkx/CN/10.11959/j.issn.2096-6652.202222), Cui et al., Chinese Journal of Intelligent Science and Technology 2022 1090 | 1091 | - [Hardware Technology of Vision-Based Tactile Sensor: A Review](https://ieeexplore.ieee.org/abstract/document/9911183), Zhang et al., IEEE Sensors 2022 1092 | 1093 | - [Marker Displacement MethodUsedinVision-Based Tactile Sensors—From 2D to 3D: A Review](https://www.techrxiv.org/articles/preprint/Marker_Displacement_Method_Used_in_Vision-Based_Tactile_Sensors_From_2D_to_3D_A_Review/22122596), LI et al., IEEE Sensors 2023 1094 | 1095 | - [When Vision Meets Touch: A Contemporary Review for Visuotactile Sensors from the Signal Processing Perspective](https://arxiv.org/pdf/2406.12226), Li et al., arxiv 2024 1096 | 1097 | - [Artificial Skin Based on Visuo-Tactile Sensing for 3D Shape Reconstruction: Material, Method, and Evaluation](https://onlinelibrary.wiley.com/doi/full/10.1002/adfm.202411686), Zhang et al., Advanced Functional Materials 2024 1098 | 1099 | - [Tactile Data Generation and Applications Based on Visuo-tactile Sensors: A Review](https://www.sciencedirect.com/science/article/pii/S1566253525002350), Sun et al., Information Fusion 2025 1100 | 1101 | - [Tactile Robotics: An Outlook](https://arxiv.org/pdf/2508.11261), Luo et al., TRO 2025 1102 | 1103 | - [Classification of Vision-Based Tactile Sensors: A Review](https://ieeexplore.ieee.org/abstract/document/11134134), Li et al., IEEE Sensors 2025 1104 | 1105 | - [A Survey of Vision-Based Tactile Sensors: Hardware, Algorithm, Application and Future Direction](https://ieeexplore.ieee.org/abstract/document/11146862), He et al., IEEE Transactions on Instrumentation and Measurement 2025 1106 | 1107 | 1108 | ## Thesis 1109 | ### Master 1110 | - [Tactile Measurement with a GelSight Sensor](http://dspace.mit.edu/handle/1721.1/93815), Wenzhen Yuan, Master, 2014 1111 | - [Robust object pose estimation with point clouds from vision and touch](http://dspace.mit.edu/handle/1721.1/111867), Gregory Russell, Master, 2017 1112 | - [3D shape perception from vision and touch](http://dspace.mit.edu/handle/1721.1/122914), Shaoxiong Wang, Master, 2019 1113 | - [Vision-based proprioception of a soft robotic finger with tactile sensing](http://dspace.mit.edu/handle/1721.1/127131), Sandra Q. Liu, Master, 2020 1114 | - [Discovering the patterns of human-environment interactions using scalable functional textiles](http://dspace.mit.edu/handle/1721.1/128628), Yiyue Luo, Master, 2020 1115 | - [Deformable Object Manipulation with a Tactile Reactive Gripper](http://dspace.mit.edu/handle/1721.1/139946), Neha Sunil, Master, 2021 1116 | 1117 | ### PhD 1118 | - [Touching is believing : sensing and analyzing touch information with GelSight](http://dspace.mit.edu/handle/1721.1/99834), Rui Li, Ph.D., 2015 1119 | - [High-resolution tactile sensing for robotic perception](http://dspace.mit.edu/handle/1721.1/120267), Wenzhen Yuan, Ph.D., 2018 1120 | - [Continuous tactile sensing for enhanced human-robot collaboration](https://scholar.google.com/citations?view_op=view_citation&hl=en&user=1PbAJlEAAAAJ&cstart=20&pagesize=80&sortby=pubdate&citation_for_view=1PbAJlEAAAAJ:qUcmZB5y_30C), Augusto Gomez Eguiluz, Ph.D., 2018 1121 | - [Reactive manipulation with contact models and tactile feedback](http://dspace.mit.edu/handle/1721.1/125476), Francois R. Hogan, Ph.D., 2020 1122 | - [Data-driven Tactile Sensing using Spatially Overlapping Signals](https://www.proquest.com/openview/2fe76b59ca5836dc691847d611775430/1?pq-origsite=gscholar&cbl=18750&diss=y), Pedro Piacenza, Ph.D., 2020 1123 | - [High-resolution Tactile Sensing for Reactive Robotic Manipulation](http://dspace.mit.edu/handle/1721.1/130764), Siyuan Dong, Ph.D., 2021 1124 | - [A general framework for high-resolution robotic tactile sensing: design, simulation, and learning](https://www.research-collection.ethz.ch/handle/20.500.11850/541127), Carmelo Sferrazza, Ph.D., 2022 1125 | - [Interactive Touch for Manipulation](https://dspace.mit.edu/handle/1721.1/147267), Shaoxiong Wang, Ph.D., 2022 1126 | 1127 | 1128 | ## Products 1129 | - [9DTact](https://e.tb.cn/h.hJlaI3aoyO30DGk?tk=K9Vm4iYdHwj) 1130 | - [DIGIT](https://www.gelsight.com/product/digit-tactile-sensor/) 1131 | - [GelSight Mini](https://www.gelsight.com/product/gelsight-mini-system/) 1132 | - [FingerVision](https://www.fingervision.jp/en/service-product) 1133 | - [BioTac](https://syntouchinc.com/robotics/) 1134 | - [uSkin](https://www.xelarobotics.com/tactile-sensors) 1135 | - [Paxini](https://paxini.com/product/sensorax) 1136 | - [AIDIA Tiny FT Sensor](https://www.aidinrobotics.co.kr/en/miniature-6-axis-ft-sensor) 1137 | 1138 | ## Open-Source 1139 | ### Sensor 1140 | - [9DTact](https://github.com/linchangyi1/9DTact) 1141 | - [DTact](https://github.com/linchangyi1/DTact) 1142 | - [GelSlim 3.0](https://github.com/mcubelab/gelslim) 1143 | - [GelSlim 4.0](https://www.mmintlab.com/research/gelslim-4-0/) 1144 | - [DIGIT](https://github.com/facebookresearch/digit-design) 1145 | - [FingerVision](https://github.com/akihikoy/fingervision) 1146 | - [OmniTact](https://github.com/s-tian/bench-press) 1147 | - [GelSight_1](https://github.com/FrozenPenguinn/GelSight_Sensor) 1148 | - [GelSight_2](https://github.com/leo9344/Implementation-of-GelSight) 1149 | - [GelSight_3](https://github.com/geiman-uw/fingergelsight) 1150 | - [FingerGelSight](https://github.com/geiman-uw/fingergelsight) 1151 | - [DigiTac](https://github.com/nlepora/digitac-design) 1152 | - [TouchRoller](https://github.com/3PTelephant/TouchRoller) 1153 | - [ReSkin](https://github.com/raunaqbhirangi/reskin_sensor) 1154 | - [Insight](https://github.com/Huanbo-Sun/Haptics-for-Robots-Insight) 1155 | 1156 | ### Dexterous Hand with Tactile Sensing 1157 | - [All the Feels: A dexterous hand with large-area tactile sensing](https://sites.google.com/view/dmanus/home) 1158 | - [Tactile SoftHand-A](https://arxiv.org/pdf/2406.12731) 1159 | 1160 | ### Sensor Support 1161 | - [DIGIT_Depth](https://github.com/vocdex/digit-depth) 1162 | - [DIGIT_Interface](https://github.com/facebookresearch/digit-interface) 1163 | - [DIGIT_Simulator](https://github.com/hsp-iit/gazebo-yarp-digit-plugin) 1164 | - [GelSight-mini_SDK](https://github.com/gelsightinc/gsrobotics) 1165 | - [GelSight-mini_Interface](https://github.com/duyipai/gsmini) 1166 | - [GelSight_Driver](https://github.com/gizatt/gelsight_driver) 1167 | - [GelSight_ROS](https://github.com/hmccarty/gelsight-ros) 1168 | - [GelSight_Conversion](https://github.com/gelsightinc/tactiledemo) 1169 | - [GelSight_Heightmap](https://github.com/siyuandong16/gelsight_heightmap_reconstruction) 1170 | - [GelSight_Tracking_1](https://github.com/GelSight/tracking) 1171 | - [GelSight_Tracking_2](https://github.com/personalrobotics/gelslight_tracking) 1172 | - [GelSight_Neural_Tracking](https://github.com/wx405557858/neural_tracking) 1173 | - [GelSlim_Heightmap](https://github.com/siyuandong16/Heightmap_reconstruction_with_GelSlim) 1174 | - [Gelsight_Controller](https://github.com/Photon26/Gelsight_controller) 1175 | 1176 | ### Simulator/Library 1177 | - [Tactile Optical Simulation](https://github.com/CMURoboTouch/tactile_optical_simulation) 1178 | - [GelSight_Simulation](https://github.com/danfergo/gelsight_simulation) 1179 | - [BioTac Simulation](https://github.com/NVlabs/biotac_sim) 1180 | - [TACTO](https://github.com/facebookresearch/tacto) 1181 | - [Taxim](https://github.com/CMURoboTouch/Taxim) 1182 | - [GelSight-Sim2Real](https://github.com/RVSATHU/GelSight-Sim2Real) 1183 | - [DIGIT-Mujoco](https://github.com/L3S/TACTO-MuJoCo) 1184 | - [DIGIT-Gazebo](https://github.com/hsp-iit/gazebo-yarp-digit-plugin) 1185 | - [PyTouch](https://github.com/facebookresearch/PyTouch) 1186 | - [PyTact](https://github.com/hmccarty/pytact) 1187 | - [Tacchi](https://github.com/zixichen007115/Tacchi) 1188 | - [BioTac](https://github.com/wzaielamri/optimizing_biotac_simulation) 1189 | - [M3L](https://github.com/carlosferrazza/tactile_envs) 1190 | - [AllSight](https://github.com/osheraz/allsight_sim) 1191 | - [Taccel](https://github.com/Taccel-Simulator/Taccel) 1192 | 1193 | ### Dataset 1194 | - [Visual-Tactile_Dataset](https://github.com/tsinghua-rll/Visual-Tactile_Dataset) 1195 | - [YCB-Sight](https://github.com/CMURoboTouch/YCB-Sight) 1196 | - [DenseTact](https://github.com/armlabstanford/DenseTact) 1197 | - [Touch and Go](https://github.com/fredfyyang/Tactile-Driven-Image-Stylization/) 1198 | - [ObjectFolder](https://ai.stanford.edu/~rhgao/objectfolder/) 1199 | - [ObjectFolder 2.0](https://ai.stanford.edu/~rhgao/objectfolder2.0/) 1200 | - [ObjectFolder 3.0](https://www.objectfolder.org/) 1201 | - [TVL](https://tactile-vlm.github.io/) 1202 | - [Touch100K](https://cocacola-lab.github.io/Touch100k/) 1203 | 1204 | ### Algorithms 1205 | - [ShapeMap 3-D](https://github.com/rpl-cmu/shape-map-3D) 1206 | - [Tactile SLAM](https://github.com/suddhu/gpis-touch-public) 1207 | - [pybullet-shape-contact](https://github.com/suddhu/pybullet-shape-contact) 1208 | - [PatchGraph](https://github.com/psodhi/tactile-in-hand) 1209 | - [TANDEM](https://github.com/jingxixu/tandem-public) 1210 | - [Neural Contact Fields (NCF)](https://github.com/carolinahiguera/NCF) 1211 | - [Active Extrinsic Contact Sensing](https://github.com/sangwkim/active_extrinsic_contact) 1212 | - [MidasTouch](https://github.com/facebookresearch/MidasTouch) 1213 | - [Tactile-Diffusion](https://github.com/carolinahiguera/Tactile-Diffusion) 1214 | - [Tac-Man-Simulation](https://github.com/YuyangLee/Tac-Man-Simulation) 1215 | 1216 | ## Laboratory 1217 | - [MIT - Ted Adelson](https://www.csail.mit.edu/person/ted-adelson) 1218 | - [MIT - Alberto Rodriguez - Mcube Lab](https://mcube.mit.edu/) 1219 | - [Meta - Mustafa Mukadam - Manipulation and Tactile Sensing Group](https://www.mustafamukadam.com/) 1220 | - [UIUC - Wenzhen Yuan - RoboTouch Lab](https://robotouchlab.web.illinois.edu/) 1221 | - [SJTU - Daolin Ma - MPI Lab](https://mpi.sjtu.edu.cn/index.html) 1222 | - [KCL - Shan LUo](https://shanluo.github.io/) 1223 | - [Bristol - Nathan F. Lepora](https://lepora.com/) 1224 | - [TU Dresden - Roberto Calandra - LASR Lab](https://lasr.org/) 1225 | - [Tsinghua - Huazhe Xu](http://hxu.rocks/) 1226 | - [Tsinghua - Bin Fang](https://scholar.google.com/citations?hl=zh-CN&user=5G47IcIAAAAJ&view_op=list_works&sortby=pubdate) 1227 | - [Tsinghua - Fuchun Sun](https://scholar.google.com/citations?hl=en&user=DbviELoAAAAJ&view_op=list_works&sortby=pubdate) 1228 | - [Tsinghua - Wenbo Ding - SSR Group](http://ssr-group.net/) 1229 | - [Tsinghua - Yao Jiang](https://ieeexplore.ieee.org/author/37086023995) 1230 | - [Tsinghua - Rui Chen](https://callmeray.github.io/homepage/Home.html) 1231 | - [Max Planck Institute - Katherine J. Kuchenbecker](https://hi.is.mpg.de/) 1232 | - [UMich - Nima Fazeli - Mmint Lab](https://www.mmintlab.com/) 1233 | - [Purdue - Yu She - MARS Lab](https://www.purduemars.com/) 1234 | - [Stanford - Monroe Kennedy III - ARMLab](https://arm.stanford.edu/) 1235 | - [UVA - Gregory J. Gerling - Gerling Touch Lab](https://www.gerlingtouchlab.com/) 1236 | - [Oxford - Perla Maiolino - Soft Robotics Lab](https://www.ori.ox.ac.uk/labs/srl/) 1237 | - [Peking University - Huanbo Sun - Haptic Sensing Lab](https://hapticsensinglab.com/) 1238 | - [QMUL - Kaspar Althoefer](https://www.sems.qmul.ac.uk/staff/k.althoefer) 1239 | - [KCL - Hongbin Liu - HaMMeR Lab](https://kclhammerlab.com/) 1240 | 1241 | 1242 | 1243 | ## Citation 1244 | If you find this repository useful, please cite: 1245 | ```bibtex 1246 | @misc{Awesome_Touch_2022, 1247 | title = {Awesome-Touch}, 1248 | author = {Changyi Lin}, 1249 | year = {2022}, 1250 | url = {https://github.com/linchangyi1/Awesome-Touch}, 1251 | note = {GitHub repository} 1252 | } 1253 | ``` 1254 | 1255 | --------------------------------------------------------------------------------