{"id":"https://openalex.org/W7225747035","doi":"https://doi.org/10.48550/arxiv.2611.12806","title":"Learning Heterogeneous Tactile Representation for General Dexterous Manipulation","display_name":"Learning Heterogeneous Tactile Representation for General Dexterous Manipulation","publication_year":2026,"publication_date":"2026-11-09","ids":{"openalex":"https://openalex.org/W7225747035","doi":"https://doi.org/10.48550/arxiv.2611.12806"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2611.12806","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2611.12806","pdf_url":"https://arxiv.org/pdf/2611.12806","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"volume":null,"type":"preprint","is_traditional":true,"indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2611.12806","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5161400613","display_name":"Bing Han","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Han, Bing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045227272","display_name":"Yichuan Peng","orcid":"https://orcid.org/0000-0002-6234-8083","observed_orcids":["https://orcid.org/0000-0002-6234-8083"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Peng, Yichuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5161415156","display_name":"Haoyu Dong","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dong, Haoyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009897898","display_name":"Yuanmeng Hu","orcid":"https://orcid.org/0000-0002-0839-2665","observed_orcids":["https://orcid.org/0000-0002-0839-2665"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hu, Yuanmeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101278792","display_name":"Yongyi Jia","orcid":"https://orcid.org/0009-0008-3405-2307","observed_orcids":["https://orcid.org/0009-0008-3405-2307"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jia, Yongyi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053131871","display_name":"Fangjing Wang","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Fangjing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087247298","display_name":"Kecheng Zheng","orcid":"https://orcid.org/0000-0002-3450-400X","observed_orcids":["https://orcid.org/0000-0002-3450-400X"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zheng, Kecheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5161371011","display_name":"Yiming Zhang","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Yiming","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5161380920","display_name":"Yanhong Zeng","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zeng, Yanhong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5161383075","display_name":"Xiaoqing Zhang","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Xiaoqing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5161392986","display_name":"Chen Song","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Song, Chen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101319896","display_name":"Rundong Zou","orcid":"https://orcid.org/0009-0005-6424-560X","observed_orcids":["https://orcid.org/0009-0005-6424-560X"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zou, Rundong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058247970","display_name":"Anqi Dong","orcid":"https://orcid.org/0000-0002-0365-0733","observed_orcids":["https://orcid.org/0000-0002-0365-0733"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dong, Anqi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101754434","display_name":"Yuan Guan","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guan, Yuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073658011","display_name":"Ka Leong Cheng","orcid":"https://orcid.org/0000-0001-7188-1472","observed_orcids":["https://orcid.org/0000-0001-7188-1472"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cheng, Ka Leong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5161383160","display_name":"Xing Zhu","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhu, Xing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5161371264","display_name":"Yujun Shen","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shen, Yujun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123541970","display_name":"Nan Xue","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xue, Nan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5161375344","display_name":"Wei Ning","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ning, Wei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.0026000000070780516,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.00019999999494757503,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/tactile-representation","display_name":"tactile representation","score":0.6399999856948853},{"id":"https://openalex.org/keywords/dexterous-manipulation","display_name":"dexterous manipulation","score":0.9290000200271606},{"id":"https://openalex.org/keywords/piezoresistive-sensors","display_name":"piezoresistive sensors","score":0.9380000233650208},{"id":"https://openalex.org/keywords/magnetic-sensors","display_name":"magnetic sensors","score":0.7710000276565552},{"id":"https://openalex.org/keywords/diffusion-policy","display_name":"diffusion policy","score":0.49399998784065247},{"id":"https://openalex.org/keywords/vision-language-action-models","display_name":"vision-language-action models","score":0.984000027179718},{"id":"https://openalex.org/keywords/robotic-manipulation","display_name":"robotic manipulation","score":0.414000004529953}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6818000078201294},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.6535000205039978},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.6341999769210815},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6258000135421753},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6212000250816345},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5813999772071838},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.529699981212616},{"id":"https://openalex.org/C3017819093","wikidata":"https://www.wikidata.org/wiki/Q328835","display_name":"Tactile perception","level":3,"score":0.44290000200271606},{"id":"https://openalex.org/C2987654038","wikidata":"https://www.wikidata.org/wiki/Q859031","display_name":"Tactile stimuli","level":3,"score":0.41200000047683716},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.39750000834465027},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.3853999972343445},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3801000118255615},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3734000027179718},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3276999890804291},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.3012000024318695},{"id":"https://openalex.org/C66024118","wikidata":"https://www.wikidata.org/wiki/Q1122506","display_name":"Computational model","level":2,"score":0.2815999984741211},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.28110000491142273},{"id":"https://openalex.org/C192327766","wikidata":"https://www.wikidata.org/wiki/Q1038799","display_name":"Cognitive robotics","level":3,"score":0.274399995803833},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.2671999931335449},{"id":"https://openalex.org/C59404180","wikidata":"https://www.wikidata.org/wiki/Q17013334","display_name":"Feature learning","level":2,"score":0.25619998574256897},{"id":"https://openalex.org/C116409475","wikidata":"https://www.wikidata.org/wiki/Q1385056","display_name":"External Data Representation","level":2,"score":0.25529998540878296}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2611.12806","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2611.12806","pdf_url":"https://arxiv.org/pdf/2611.12806","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2611.12806","doi":"https://doi.org/10.48550/arxiv.2611.12806","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2611.12806","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2611.12806","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2611.12806","pdf_url":"https://arxiv.org/pdf/2611.12806","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W7166895326","https://openalex.org/W7166651241","https://openalex.org/W7127386502","https://openalex.org/W7222180813","https://openalex.org/W7162091745","https://openalex.org/W7164573771","https://openalex.org/W4415312740","https://openalex.org/W7165649181","https://openalex.org/W4399913003","https://openalex.org/W7163708012"],"abstract_inverted_index":{"Tactile":[0],"sensing":[1],"is":[2,50,102],"an":[3],"indispensable":[4],"modality":[5],"for":[6,191],"contact-rich":[7],"dexterous":[8],"manipulation,":[9],"a":[10,29,75,88],"capability":[11],"that":[12,60,155],"hints":[13],"at":[14,28],"the":[15,81,171,177,192],"ultimate":[16],"frontiers":[17],"of":[18,33,38,179,194],"embodied":[19,61,198],"intelligence.":[20],"However,":[21],"commercially":[22],"available":[23],"tactile":[24,54,67,76,93,112,157,185],"sensors":[25,94],"are":[26,114],"still":[27],"relatively":[30],"early":[31],"stage":[32],"development,":[34],"with":[35],"each":[36],"type":[37],"sensor":[39,107],"offering":[40],"irreplaceable":[41],"strengths":[42],"alongside":[43],"its":[44],"own":[45],"drawbacks.":[46],"A":[47],"key":[48],"challenge":[49],"thus":[51],"to":[52,105,129,183],"free":[53],"understanding":[55],"from":[56,126],"sensor-specific":[57],"physics,":[58],"so":[59],"models":[62,123,132],"can":[63,117],"effectively":[64],"leverage":[65],"heterogeneous":[66],"data.":[68],"To":[69],"this":[70,174],"end,":[71],"we":[72],"develop":[73],"LingBot-Touch,":[74],"foundation":[77],"model":[78,86],"characterized":[79],"by":[80],"following":[82],"properties.":[83],"(i)":[84],"Our":[85],"yields":[87],"unified":[89],"representation":[90,158],"across":[91,124,150],"different":[92],"(i.e.,":[95],"piezoresistive,":[96],"magnetic,":[97],"and":[98,101,136,147,187,197],"visuotactile":[99],"sensors),":[100],"easily":[103],"extensible":[104],"new":[106],"types.":[108],"(ii)":[109],"The":[110],"resulting":[111],"tokens":[113],"plug-and-play:":[115],"they":[116],"be":[118],"seamlessly":[119],"integrated":[120],"into":[121],"policy":[122,128],"paradigms,":[125],"diffusion":[127],"vision-language-action":[130],"(VLA)":[131],"such":[133],"as":[134],"$\u03c0_{0.5}$":[135],"LingBot-VLA,":[137],"consistently":[138],"enhancing":[139],"manipulation":[140,162],"dexterity.":[141],"(iii)":[142],"Extensive":[143],"experiments,":[144],"spanning":[145],"simulation":[146],"real-robot":[148],"deployments":[149],"multiple":[151],"hardware":[152,196],"platforms,":[153],"demonstrate":[154,176],"our":[156],"substantially":[159],"benefits":[160],"complex":[161],"tasks":[163],"while":[164],"maintaining":[165],"strong":[166],"computational":[167],"efficiency.":[168],"We":[169],"believe":[170],"findings":[172],"in":[173],"work":[175],"potential":[178],"leveraging":[180],"cross-sensor":[181],"data":[182],"scale":[184],"learning,":[186],"offer":[188],"encouraging":[189],"insights":[190],"design":[193],"future":[195],"models.":[199]},"counts_by_year":[],"updated_date":"2026-11-12T12:28:57.059296","created_date":"2026-11-11T00:00:00"}
