{"id":"https://openalex.org/W7170721849","doi":"https://doi.org/10.48550/arxiv.2607.20683","title":"FELT: Generating Tactile Signals from Vision for Visuo-Tactile Manipulation","display_name":"FELT: Generating Tactile Signals from Vision for Visuo-Tactile Manipulation","publication_year":2026,"publication_date":"2026-07-22","ids":{"openalex":"https://openalex.org/W7170721849","doi":"https://doi.org/10.48550/arxiv.2607.20683"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2607.20683","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.20683","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.2607.20683","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5143604358","display_name":"Zinan Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Zinan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113015441","display_name":"Yiyang Ling","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ling, Yiyang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122359994","display_name":"Y J Gu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gu, Yuming","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5143564728","display_name":"Binghao Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Binghao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5143555354","display_name":"Chenhao Liang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liang, Chenhao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073706790","display_name":"Sharfin Islam","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Islam, Sharfin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064331121","display_name":"Hisham Bedri","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bedri, Hisham","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5143564265","display_name":"John Chirikjian","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chirikjian, John","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5143535742","display_name":"Yunzhu Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Yunzhu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5143538527","display_name":"Stefanos Nikolaidis","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nikolaidis, Stefanos","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5143550022","display_name":"Daniel Seita","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Seita, Daniel","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":0.5443000197410583,"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":0.5443000197410583,"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":0.295199990272522,"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":0.057100001722574234,"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":0.8295999765396118},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5407000184059143},{"id":"https://openalex.org/keywords/decodes","display_name":"Decodes","score":0.5198000073432922},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4999000132083893},{"id":"https://openalex.org/keywords/tactile-perception","display_name":"Tactile perception","score":0.4758000075817108},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.4259999990463257},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42089998722076416}],"concepts":[{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.8295999765396118},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7128999829292297},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7024000287055969},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5971999764442444},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5407000184059143},{"id":"https://openalex.org/C2778858076","wikidata":"https://www.wikidata.org/wiki/Q5249539","display_name":"Decodes","level":3,"score":0.5198000073432922},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4999000132083893},{"id":"https://openalex.org/C3017819093","wikidata":"https://www.wikidata.org/wiki/Q328835","display_name":"Tactile perception","level":3,"score":0.4758000075817108},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.4259999990463257},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42089998722076416},{"id":"https://openalex.org/C2987654038","wikidata":"https://www.wikidata.org/wiki/Q859031","display_name":"Tactile stimuli","level":3,"score":0.4207000136375427},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.32910001277923584},{"id":"https://openalex.org/C49409089","wikidata":"https://www.wikidata.org/wiki/Q7674137","display_name":"Tactile discrimination","level":3,"score":0.3262999951839447},{"id":"https://openalex.org/C111370547","wikidata":"https://www.wikidata.org/wiki/Q7451120","display_name":"Sensory cue","level":2,"score":0.32330000400543213},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.3174000084400177},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.31130000948905945},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.25870001316070557}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2607.20683","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.20683","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.2607.20683","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.20683","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":{"The":[0],"sense":[1],"of":[2,101],"touch":[3,19],"is":[4,11,196],"central":[5],"to":[6,45,87,141],"manipulation,":[7,21],"especially":[8],"when":[9],"vision":[10,17],"occluded":[12],"or":[13,154,192],"ambiguous.":[14],"Although":[15],"combining":[16],"and":[18,43,82,109,128,171],"improves":[20],"learning":[22],"robust":[23],"visuo-tactile":[24],"policies":[25],"requires":[26,136],"substantial":[27],"tactile":[28,38,63,89,103,111,147,152,157,169,173,187],"data.":[29],"Such":[30],"data":[31,73,145],"remains":[32],"scarcer":[33],"than":[34],"visual":[35,80],"data,":[36,138],"because":[37],"sensors":[39],"are":[40],"fragile,":[41],"specialized,":[42],"hard":[44],"standardize.":[46],"To":[47,96],"address":[48],"this,":[49],"we":[50],"present":[51],"Feature-Extracted":[52],"Latent":[53],"Tactile":[54],"(FELT),":[55],"a":[56,77,83,92],"learning-based":[57],"framework":[58],"that":[59,166],"synthesizes":[60],"per-finger":[61],"pressure":[62],"images":[64,153,170],"from":[65],"RGB":[66,137],"observations,":[67,148],"reducing":[68],"the":[69,98,107,118],"need":[70],"for":[71],"tactile-equipped":[72],"collection.":[74],"FELT":[75,105,134],"uses":[76],"large":[78],"frozen":[79],"encoder":[81],"lightweight":[84],"query":[85],"decoder":[86],"predict":[88],"signals":[90],"in":[91],"single":[93],"feed-forward":[94],"pass.":[95],"respect":[97],"physical":[99],"topology":[100],"dual-finger":[102],"sensors,":[104],"decodes":[106],"left":[108],"right":[110],"sensor":[112,188],"panels":[113],"through":[114],"separate":[115],"branches,":[116],"capturing":[117],"asymmetric":[119],"contact":[120],"patterns":[121],"during":[122,189],"interactions":[123],"such":[124],"as":[125,150,155],"wiping,":[126],"insertion,":[127],"in-hand":[129],"rotation.":[130],"At":[131],"inference":[132],"time,":[133],"only":[135],"allowing":[139],"us":[140],"augment":[142],"existing":[143],"vision-only":[144,179],"with":[146,181],"either":[149],"generated":[151,168],"latent":[156,172,182],"features.":[158],"Experiments":[159],"on":[160,198],"four":[161],"contact-rich":[162],"manipulation":[163],"tasks":[164],"demonstrate":[165],"both":[167],"features":[174],"improve":[175],"policy":[176,190],"success":[177],"over":[178],"baselines,":[180],"feature":[183],"requiring":[184],"no":[185],"real":[186],"training":[191],"deployment.":[193],"Supplementary":[194],"material":[195],"available":[197],"our":[199],"anonymous":[200],"website:":[201],"https://felt-tactile.github.io/.":[202]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-25T00:00:00"}