{"id":"https://openalex.org/W7156860662","doi":"https://doi.org/10.48550/arxiv.2604.24449","title":"SPLIT: Separating Physical-Contact via Latent Arithmetic in Image-Based Tactile Sensors","display_name":"SPLIT: Separating Physical-Contact via Latent Arithmetic in Image-Based Tactile Sensors","publication_year":2026,"publication_date":"2026-04-27","ids":{"openalex":"https://openalex.org/W7156860662","doi":"https://doi.org/10.48550/arxiv.2604.24449"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.24449","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.24449","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,"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.24449","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5084717705","display_name":"Wadhah Zai El Amri","orcid":"https://orcid.org/0000-0002-0238-4437"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Amri, Wadhah Zai El","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5040711005","display_name":"Nicol\u00e1s Navarro-Guerrero","orcid":"https://orcid.org/0000-0003-1164-5579"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Navarro-Guerrero, Nicol\u00e1s","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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.7670999765396118,"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"}},"topics":[{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.7670999765396118,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.06639999896287918,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.028699999675154686,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.708899974822998},{"id":"https://openalex.org/keywords/polygon-mesh","display_name":"Polygon mesh","score":0.6890000104904175},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.6554999947547913},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.3926999866962433},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.3650999963283539},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.3635999858379364},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3043000102043152}],"concepts":[{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.708899974822998},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7038999795913696},{"id":"https://openalex.org/C31487907","wikidata":"https://www.wikidata.org/wiki/Q1154597","display_name":"Polygon mesh","level":2,"score":0.6890000104904175},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.6554999947547913},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5313000082969666},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4300999939441681},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.3926999866962433},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3650999963283539},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.3635999858379364},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3043000102043152},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.289900004863739},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.2685999870300293},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.2646999955177307},{"id":"https://openalex.org/C2987654038","wikidata":"https://www.wikidata.org/wiki/Q859031","display_name":"Tactile stimuli","level":3,"score":0.258899986743927},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.2581000030040741},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.257999986410141},{"id":"https://openalex.org/C3017819093","wikidata":"https://www.wikidata.org/wiki/Q328835","display_name":"Tactile perception","level":3,"score":0.2502000033855438}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.24449","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.24449","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,"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.24449","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.24449","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,"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Training":[0],"machine":[1],"learning":[2],"models":[3],"for":[4,45,82,153,178],"robotic":[5,182],"tactile":[6,28,48,169,183],"sensing":[7,184],"requires":[8],"vast":[9],"amounts":[10],"of":[11,157,166],"data,":[12],"yet":[13],"obtaining":[14],"realistic":[15,158],"interaction":[16],"data":[17,99],"remains":[18],"a":[19,32,42,51,63,126,139,175],"challenge":[20],"due":[21],"to":[22,59,90,92,100],"physical":[23],"complexity":[24],"and":[25,96,144,163],"variability.":[26],"Simulating":[27],"sensors":[29,102],"is":[30,62],"thus":[31],"crucial":[33],"step":[34],"in":[35,181],"accelerating":[36,179],"progress.":[37],"This":[38,171],"paper":[39],"presents":[40],"SPLIT,":[41],"novel":[43],"method":[44,130],"simulating":[46],"image-based":[47],"sensors,":[49],"with":[50,135],"primary":[52],"focus":[53],"on":[54],"the":[55,104,155,164],"DIGIT":[56,94],"sensor.":[57],"Central":[58],"our":[60,114,147],"approach":[61,115],"latent":[64],"space":[65],"arithmetic":[66],"strategy":[67],"that":[68,79],"explicitly":[69],"disentangles":[70],"contact":[71],"geometry":[72],"from":[73,160,168],"sensor-specific":[74],"optical":[75],"properties.":[76],"Unlike":[77],"methods":[78],"require":[80],"recalibration":[81],"every":[83],"new":[84],"unit,":[85],"this":[86,112],"disentanglement":[87],"allows":[88],"SPLIT":[89,174],"adapt":[91],"diverse":[93],"backgrounds":[95],"even":[97],"transfer":[98],"distinct":[101],"like":[103],"GelSight":[105],"R1.5":[106],"without":[107],"full":[108],"model":[109],"retraining.":[110],"Beyond":[111],"adaptability,":[113],"achieves":[116],"faster":[117],"inference":[118],"speeds":[119],"than":[120],"existing":[121],"alternatives.":[122],"Furthermore,":[123],"we":[124],"provide":[125],"calibrated":[127],"finite":[128],"element":[129],"(FEM)":[131],"soft-body":[132],"mesh":[133],"simulation":[134],"variable":[136],"resolution,":[137],"offering":[138],"tunable":[140],"trade-off":[141],"between":[142],"speed":[143],"fidelity.":[145],"Additionally,":[146],"algorithm":[148],"supports":[149],"bidirectional":[150],"simulation,":[151],"allowing":[152],"both":[154],"generation":[156],"images":[159],"deformation":[161],"meshes":[162,167],"reconstruction":[165],"images.":[170],"versatility":[172],"makes":[173],"valuable":[176],"tool":[177],"progress":[180],"research.":[185]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-04-29T00:00:00"}