TacGen reports that vision-plus-generated-touch representations outperform vision-only models on mass, density, hardness, force, and manipulation tasks, with controls indicating the touch channel accounts for most of the gain.
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TacGen: Touch Is a Necessary Dimension of Physical-World Representation -- Addressing Tactile Data Scarcity with Scalable Vision-to-Touch Alignment and Generation
TacGen reports that vision-plus-generated-touch representations outperform vision-only models on mass, density, hardness, force, and manipulation tasks, with controls indicating the touch channel accounts for most of the gain.