Tactile Genesis provides a scalable multi-type tactile simulator and ablation results showing whole-hand coverage with per-taxel force/torque sensing outperforms fingertip-only or other modalities across three dexterous tasks.
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Splash partitions MLLM parameters into dormant and critical subspaces via significance quantification, updating only the dormant subspace for tactile alignment while preserving general capabilities and achieving SOTA on visuo-tactile benchmarks.
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Tactile Genesis: Exploring Tactile Sensors at Scale for Learning Dexterous Tasks
Tactile Genesis provides a scalable multi-type tactile simulator and ablation results showing whole-hand coverage with per-taxel force/torque sensing outperforms fingertip-only or other modalities across three dexterous tasks.