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Towards Comprehensive Multimodal Perception: Introducing the Touch-Language-Vision Dataset

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arxiv 2403.09813 v3 pith:XUPGNB5V submitted 2024-03-14 cs.CV cs.RO

Towards Comprehensive Multimodal Perception: Introducing the Touch-Language-Vision Dataset

Ning Cheng , You Li , Jing Gao , Bin Fang , Jinan Xu , Wenjuan Han This is my paper
classification cs.CV cs.RO
keywords touch-language-visionalignmentdatasetdescriptionsmultimodalpageperceptionsentence-level
verification ladder T0 review T1 audit T2 compute T3 formal T4 reserved
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Tactility provides crucial support and enhancement for the perception and interaction capabilities of both humans and robots. Nevertheless, the multimodal research related to touch primarily focuses on visual and tactile modalities, with limited exploration in the domain of language. Beyond vocabulary, sentence-level descriptions contain richer semantics. Based on this, we construct a touch-language-vision dataset named TLV (Touch-Language-Vision) by human-machine cascade collaboration, featuring sentence-level descriptions for multimode alignment. The new dataset is used to fine-tune our proposed lightweight training framework, STLV-Align (Synergistic Touch-Language-Vision Alignment), achieving effective semantic alignment with minimal parameter adjustments (1%). Project Page: https://xiaoen0.github.io/touch.page/.

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Cited by 2 Pith papers

Reviewed papers in the Pith corpus that reference this work. Sorted by Pith novelty score.

  1. RCT: A Robot-Collected Touch-Vision-Language Dataset for Tactile Generalization

    cs.RO 2026-06 accept novelty 7.0

    RCT dataset with sequence-preserving splits demonstrates that tactile-to-text models achieve only 25.1% Recall@1 on held-out materials, exposing generalization as the core challenge.

  2. Tactile-based Multimodal Fusion in Embodied Intelligence: A Survey of Vision, Language, and Contact-Driven Paradigms

    cs.RO 2026-05 unverdicted novelty 4.0

    A survey proposing a hierarchical taxonomy for multimodal tactile fusion datasets and methods across perception, generation, and interaction in embodied intelligence.