{"id":"https://openalex.org/W7166886050","doi":"https://doi.org/10.48550/arxiv.2606.31451","title":"UniTac: A Unified Multimodal Model for Cross-Sensor Tactile Understanding and Generation","display_name":"UniTac: A Unified Multimodal Model for Cross-Sensor Tactile Understanding and Generation","publication_year":2026,"publication_date":"2026-06-30","ids":{"openalex":"https://openalex.org/W7166886050","doi":"https://doi.org/10.48550/arxiv.2606.31451"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.31451","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.31451","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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.2606.31451","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5108332199","display_name":"Jiahang Tu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tu, Jiahang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111068870","display_name":"Fengyu Yang","orcid":"https://orcid.org/0009-0001-1094-8204"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Fengyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139799604","display_name":"Chenyang Ma","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ma, Chenyang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139776983","display_name":"Xihang Yu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Xihang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139782664","display_name":"Ziyao Zeng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zeng, Ziyao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139771672","display_name":"Shaokai Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Shaokai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003608372","display_name":"Hongyun Zhao","orcid":"https://orcid.org/0000-0002-1251-3888"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Hanbin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101439975","display_name":"Zhi Tao","orcid":"https://orcid.org/0009-0004-1095-725X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tao, Zhi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139813928","display_name":"Chao Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Chao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139770143","display_name":"Hui Qian","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qian, Hui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139743151","display_name":"Alex Wong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wong, Alex","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":0.8095999956130981,"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":0.8095999956130981,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.08479999750852585,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.014700000174343586,"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":0.6195999979972839},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6079000234603882},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5519000291824341},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5364000201225281},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.46239998936653137},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.4422999918460846}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6610999703407288},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.6195999979972839},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6079000234603882},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5914000272750854},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5519000291824341},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5364000201225281},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5015000104904175},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.46239998936653137},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.4422999918460846},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40790000557899475},{"id":"https://openalex.org/C2780876879","wikidata":"https://www.wikidata.org/wiki/Q3054749","display_name":"Meaning (existential)","level":2,"score":0.36809998750686646},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.2994000017642975},{"id":"https://openalex.org/C3017819093","wikidata":"https://www.wikidata.org/wiki/Q328835","display_name":"Tactile perception","level":3,"score":0.29499998688697815},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2621000111103058}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.31451","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.31451","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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.2606.31451","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.31451","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Unified":[0],"multimodal":[1],"models":[2,57],"(UMMs)":[3],"have":[4],"shown":[5],"great":[6],"promise":[7],"in":[8,142],"integrating":[9],"understanding":[10,53,144],"and":[11,31,54,74,84,97,105,120,145],"generation":[12],"across":[13,150],"diverse":[14],"modalities.":[15],"However,":[16],"existing":[17],"research":[18],"rarely":[19],"extends":[20],"this":[21,42],"paradigm":[22,116],"to":[23,66,100],"the":[24,36,47,58,69],"tactile":[25,52,59,88,109,131,143,148],"domain,":[26],"where":[27],"both":[28,82],"object-level":[29],"semantics":[30],"sensor-level":[32],"configurations":[33],"jointly":[34],"determine":[35],"meaning":[37],"of":[38,118],"touch.":[39],"To":[40],"address":[41],"gap,":[43],"we":[44,111],"propose":[45],"UniTac,":[46],"first":[48],"UMM":[49],"designed":[50],"for":[51],"generation.":[55],"UniTac":[56,90,138],"process":[60],"as":[61],"a":[62,77,113,124],"transition":[63],"from":[64],"non-contact":[65],"contact,":[67],"capturing":[68],"physical":[70,104],"interaction":[71],"between":[72],"sensors":[73],"objects":[75],"through":[76],"dual-level":[78],"representation":[79],"that":[80,128],"encodes":[81],"sensor":[83,98],"object":[85,94],"attributes.":[86],"For":[87,108],"understanding,":[89],"introduces":[91],"two":[92],"tasks,":[93],"property":[95],"description":[96],"identification,":[99],"enhance":[101],"reasoning":[102],"over":[103],"cross-sensor":[106],"information.":[107],"generation,":[110],"design":[112],"two-stage":[114],"training":[115],"consisting":[117],"reconstruction":[119],"alignment,":[121],"together":[122],"with":[123],"sensor-prior-based":[125],"sampling":[126],"strategy":[127],"simulates":[129],"realistic":[130,147],"contact.":[132],"Trained":[133],"on":[134],"large-scale":[135],"multi-sensor":[136],"datasets,":[137],"achieves":[139],"state-of-the-art":[140],"performance":[141],"generates":[146],"signals":[149],"sensors.":[151]},"counts_by_year":[],"updated_date":"2026-07-02T06:18:51.028212","created_date":"2026-07-02T00:00:00"}
