Year: 2025
Type: preprint
Abstract: Vision-based tactile sensing is widely used in perception, reconstruction, and robotic manipulation, yet collecting large-scale tactile data remains costly due to diverse sensor-object interactions and inconsistencies across sensor instances. Existing approaches to scaling tactile data---simulation and free-form tactile generation---often yield unrealistically rendered signals with poor transfer to highly dynamic real-world tasks. We propose \name, a two-stage controllable tactile image generation framework that generates realistic tactile images conditioned on a single reference tactile image, contact force, and contact pose. By grounding generation in these important physical priors, \name synthesizes realistic samples across different sensors while effectively capturing task-relevant variations. Across a series of downstream tasks and real-world experiments, such as object insertion, imitation learning, and object weighting, the augmented datasets using our approach consistently improve performance and demonstrate practical utility in dynamic real-world settings. Project page: https://dongyuluo.github.io/controltac.
Source: arXiv (Cornell University)
Authors: Luo, Dongyu, Yu, Kelin, Shahidzadeh, Amir-Hossein, Fermüller, Cornelia, Aloimonos, Yiannis, Gao, Ruohan
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W4416045972
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