• Sensors
  • Vision-Based
  • Visual-Tactile (Multimodal)
  • Non-Vision-Based
• Robotics Applications
  • Manipulation/Grasping
  • Classification/Recognition
  • Mapping/Localization
  • Extrinsic Contact Sensing
  • Image Generation
  • Representation Learnig
  • Force Estimation
  • LLM/VLM/VLA
  • Dexterous Manipulation
  • Data Collection
  • Tactile Policies for Legged Robots
  • Others
• Software
  • Simulator
  • Library
  • Dataset
• Review
• Thesis
• Products
• Open Source
• Laboratory
• Citation

• Planar and finger-shaped optical tactile sensors for robotic applications, Begej et al., IEEE Journal on Robotics and Automation 1988

• A finger-shaped tactile sensor using an optical waveguide, Maekawa et al., SMC 1993

• Vision-based sensor for real-time measuring of surface traction fields, Kamiyama et al., CG&A 2005

• Measurement of force vector field of robotic finger using vision-based haptic sensor, Sato et al., IROS 2008

• Retrographic sensing for the measurement of surface texture and shape, Johnson et al., CVPR 2009

• Finger-Shaped GelForce: Sensor for Measuring Surface Traction Fields for Robotic Hand, Sato et al., TOH 2010

• Microgeometry Capture using an Elastomeric Sensor, Johnson et al., TOG 2011

• Localization and Manipulation of Small Parts Using GelSight Tactile Sensing, Li et al., IROS 2014

• Measurement of Shear and Slip with a GelSight Tactile Sensor, Yuan et al., ICRA 2015

• Combining finger vision and optical tactile sensing: Reducing and handling errors while cutting vegetables, Yamaguchi et al., Humanoids 2016

• Improved GelSight Tactile Sensor for Measuring Geometry and Slip, Dong et al., IROS 2017

• GelSight: High-Resolution Robot Tactile Sensors for Estimating Geometry and Force, Yuan et al., MDPI Sensors 2017

• FingerVision Tactile Sensor Design and Slip Detection Using Convolutional LSTM Network, Zhang et al., arxiv 2018

• The TacTip Family: Soft Optical Tactile Sensors with 3D-Printed Biomimetic Morphologies, Ward-Cherrier et al., SoRo 2018

• GelSlim: A High-Resolution, Compact, Robust, and Calibrated Tactile-sensing Finger, Donlon et al., IROS 2018

• Robotic bolt insertion and tightening based on in-hand object localization and force sensing, Nozu et al., AIM 2018

• Sensing the Frictional State of a Robotic Skin via Subtractive Color Mixing, Lin et al., RAL 2019

• Development of a Vision-Based Soft Tactile Muscularis, Duong et al., RoboSoft 2019

• Design, Motivation and Evaluation of a Full-Resolution Optical Tactile Sensor, Sferrazza et al., MDPI Sensors 2019

• Transfer learning for vision-based tactile sensing, Sferrazza et al., IROS 2019

• An Elastomer-based Flexible Optical Force and Tactile Sensor, Li et al., RoboSoft 2019

• Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation, Alspach et al., RoboSoft 2019

• Event-based Tactile Image Sensor for Detecting Spatio-Temporal Fast Phenomena in Contacts, Kumagai et al., WHC 2019

• Soft-Bubble grippers for robust and perceptive manipulation, Kuppuswamy et al., IROS 2020

• GelTip: A Finger-shaped Optical Tactile Sensor for Robotic Manipulation, Gomes et al., IROS 2020

• A Novel Dynamic-Vision-Based Approach for Tactile Sensing Applications, Naeini et al., Trans. Instrum. Meas. 2020

• Low-Cost Fiducial-based 6-Axis Force-Torque Sensor, Ouyang et al., ICRA 2020

• OmniTact: A Multi-Directional High-Resolution Touch Sensor, Padmanabha1 et al., ICRA 2020

• DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor with Application to In-Hand Manipulation, Lambeta et al., RAL 2020

• VTacArm: A Vision-based Tactile Sensing Augmented Robotic Arm with Application to Human-robot Interaction, Zhang et al., CASE 2020

• Soft, Round, High Resolution Tactile Fingertip Sensors for Dexterous Robotic Manipulation, Romero et al., ICRA 2020

• Towards vision-based robotic skins: a data-driven, multi-camera tactile sensor, Trueeb et al., RoboSoft 2020

• Exoskeleton-covered soft finger with vision-based proprioception and tactile sensing, She et al., ICRA 2020

• F-TOUCH Sensor for Three-Axis Forces Measurement and Geometry Observation, Li et al., IEEE SENSORS 2020

• Design of a Fully Actuated Robotic Hand With Multiple Gelsight Tactile Sensors, Wilson et al., arxiv 2020

• A Miniaturised Neuromorphic Tactile Sensor integrated with an Anthropomorphic Robot Hand, Ward-Cherrier et al., IROS 2020

• TouchRoller: A Rolling Optical Tactile Sensor for Rapid Assessment of Large Surfaces, Cao et al., arxiv 2021

• Variable compliance and geometry regulation of Soft-Bubble grippers with active pressure control, Joonhigh et al., RoboSoft 2021

• Monocular Depth Estimation for Soft Visuotactile Sensors, Ambrus et al., RoboSoft 2021

• SEED: Series Elastic End Effectors in 6D for Visuotactile Tool Use, Suh et al., arxiv 2021

• Viko: An Adaptive Gecko Gripper with Vision-based Tactile Sensor, Pang et al., ICRA 2021

• GelSight Wedge: Measuring High-Resolution 3D Contact Geometry with a Compact Robot Finger, Wang et al., ICRA 2021

• A Tactile Sensing Foot for Single Robot Leg Stabilization, Zhang et al., ICRA 2021

• High-Resolution 3-Dimensional Contact Deformation Tracking for FingerVision Sensor With Dense Random Color Pattern, Du et al., RAL 2021

• StRETcH: a Soft to Resistive Elastic Tactile Hand, Matl et al., ICRA 2021

• FingerVision with Whiskers: Light Touch Detection with Vision-based Tactile Sensors, Yamaguchi et al., IRC 2021

• Visiflex: A Low-Cost Compliant Tactile Fingertip for Force, Torque, and Contact Sensing, Fernandez et al., RAL 2021

• Vision-Based Tactile Sensor Mechanism for the Estimation of Contact Position and Force Distribution Using Deep Learning, Kakani et al., MDPI Sensors 2021

• Incipient Slip Detection Method With Vision-Based Tactile Sensor Based on Distribution Force and Deformation, Sui et al., IEEE Sensors 2021

• Large-Scale Vision-Based Tactile Sensing for Robot Links: Design, Modeling, and Evaluation, Duong et al., TRO 2021

• GelSlim 3.0: High-Resolution Measurement of Shape, Force and Slip in a Compact Tactile-Sensing Finger, Taylor et al., ICRA 2022

• In-Hand Object Localization Using a Novel High-Resolution Visuotactile Sensor, Cui et al., Trans. Ind. Electron. 2022

• DelTact: A Vision-based Tactile Sensor Using Dense Color Pattern, Zhang et al., RAL 2022

• A soft thumb-sized vision-based sensor with accurate all-round force perception, Sun et al., Nature Machine Intelligence 2022

• Soft-Jig: A Flexible Sensing Jig for Simultaneously Fixing and Estimating Orientation of Assembly Parts, Sakuma et al., ICRA 2022

• DigiTac: A DIGIT-TacTip Hybrid Tactile Sensor for Comparing Low-Cost High-Resolution Robot Touch, Lepora et al., RAL 2022

• Model-Based 3D Contact Geometry Perception for Visual Tactile Sensor, Ji et al., MDPI Sensors 2022

• TaTa: A Universal Jamming Gripper with High-Quality Tactile Perception and Its Application to Underwater Manipulation, Li et al., ICRA 2022

• HaptiTemp: A Next-Generation Thermosensitive GelSight-Like Visuotactile Sensor, Abad et al., IEEE Sensors 2022

• DenseTact: Optical Tactile Sensor for Dense Shape Reconstruction, Do et al., ICRA 2022

• Implementing Monocular Visual-Tactile Sensors for Robust Manipulation, Li et al., CBS 2022

• Design of a Biomimetic Tactile Sensor for Material Classification, Dai et al., ICRA 2022

• GelSight Fin Ray: Incorporating Tactile Sensing into a Soft Compliant Robotic Gripper, Liu et al., RoboSoft 2022

• Soft Robotic Link with Controllable Transparency for Vision-based Tactile and Proximity Sensing, Luu et al., arxiv 2022

• HiVTac: A High-Speed Vision-Based Tactile Sensor for Precise and Real-Time Force Reconstruction with Fewer Markers, Quan et al., MDPI Sensors 2022

• Multidimensional Tactile Sensor with a Thin Compound Eye-Inspired Imaging System, Zhang et al., Soft Robotics 2022

• 3D Contact Point Cloud Reconstruction From Vision-Based Tactile Flow, Du et al., RAL 2022

• Elastomer-Based Visuotactile Sensor for Normality of Robotic Manufacturing Systems, Zaid et al., Polymers 2022

• TacRot: A Parallel-Jaw Gripper with Rotatable Tactile Sensors for In-Hand Manipulation, Zhang et al., SMC 2022

• Real-Time Marker Localization Learning for GelStereo Tactile Sensing, Liu et al., ROBIO 2022

• Tac3D: A Novel Vision-based Tactile Sensor for Measuring Forces Distribution and Estimating Friction Coefficient Distribution, Zhang et al., arxiv 2022

• Continuous Marker Patterns for Representing Contact Information in Vision-Based Tactile Sensor: Principle, Algorithm, and Verification, Li et al., Trans. Instrum. Meas. 2022

• Improving the Force Reconstruction Performance of Vision-Based Tactile Sensors by Optimizing the Elastic Body, Zhang et al., RAL 2023

• Improving the Representation and Extraction of Contact Information in Vision-based Tactile Sensors Using Continuous Marker Pattern, Li et al., TechRxiv 2023

• DotView: A Low-Cost Compact Tactile Sensor for Pressure, Shear, and Torsion Estimation, Zheng et al., RAL 2023

• A Novel Vision-Based Tactile Sensor Using Lamination and Gilding Process for Improvement of Outdoor Detection and Maintainability, Zhang et al., IEEE SENSORS 2023

• GelStereo Palm: a Novel Curved Visuotactile Sensor for 3D Geometry Sensing, Hu et al., TII 2023

• DenseTact 2.0: Optical Tactile Sensor for Shape and Force Reconstruction, Do et al., ICRA 2023

• DTact: A Vision-Based Tactile Sensor that Measures High-Resolution 3D Geometry Directly from Darkness, Lin et al., ICRA 2023

• 9DTact: A Compact Vision-Based Tactile Sensor for Accurate 3D Shape Reconstruction and Generalizable 6D Force Estimation, Lin et al., RAL 2023

• A Miniaturised Camera-based Multi-Modal Tactile Sensor, Althoefer et al., arxiv 2023

• Simulation, Learning, and Application of Vision-Based Tactile Sensing at Large Scale, Khanh Luu et al., TRO 2023

• High-Precision 3D Reconstruction Study with Emphasis on Refractive Calibration of GelStereo-Type Sensors, Zhang et al., MDPI Sensors 2023

• GelSight Baby Fin Ray: A Compact, Compliant, Flexible Finger with High-Resolution Tactile Sensing, Liu et al., arxiv 2023

• GelSight EndoFlex: A Soft Endoskeleton Hand with Continuous High-Resolution Tactile Sensing, Liu et al., arxiv 2023

• GelSight360: An Omnidirectional Camera-Based Tactile Sensor for Dexterous Robotic Manipulation, Tippur et al., arxiv 2023

• TactiGraph: An Asynchronous Graph Neural Network for Contact Angle Prediction Using Neuromorphic Vision-Based Tactile Sensing, Sajwani et al., preprints 2023

• A Tactile Sensing Concept for 3D Displacement and 3D Force Measurement using Light Angle and Intensity Sensing, Leslie et al., preprints 2023

• Minsight: a fingertip-sized vision-based tactile sensor for robotic manipulation, Andrussow et al., arxiv 2023

• Real-time and Robust Feature Detection of Continuous Marker Pattern for Dense 3-D Deformation Measurement, Mingxuan et al., arxiv 2023

• Tactile-Reactive Roller Grasper, Yuan et al., arxiv 2023

• LensLeech: On-Lens Interaction for Arbitrary Camera Devices, Getschmann et al., arxiv 2023

• L3F-TOUCH: A Wireless GelSight with Decoupled Tactile and Three-axis Force Sensing, Li et al., RAL 2023

• AllSight: A Low-Cost and High-Resolution Round Tactile Sensor with Zero-Shot Learning Capability, Azulay et al., arxiv 2023

• GelFinger: A Novel Visual-Tactile Sensor With Multi-Angle Tactile Image Stitching, Lin et al., RAL 2023

• OMsense: An Omni Tactile Sensing Principle Inspired by Compound Eyes, Yu et al., TMech 2023

• Proprioceptive Learning with Soft Polyhedral Networks, Liu et al., arxiv 2023

• A platypus-inspired electro-mechanosensory finger for remote control and tactile sensing, Mu et al., Nano Energy 2023

• GelFinger: A Novel Visual-Tactile Sensor With Multi-Angle Tactile Image Stitching, Lin et al., RAL 2023

• High-Precision 3D Reconstruction Study with Emphasis on Refractive Calibration of GelStereo-Type Sensors, Zhang et al., MDPI Sensors 2023

• HSVTac: A High-speed Vision-based Tactile Sensor for Exploring Fingertip Tactile Sensitivity, Wang et al., IEEE Sensors 2023

• 3D Dense Reconstruction of Vision-based Tactile Sensor with Coded Markers, Xue et al., TIM 2023

• WSTac: Interactive Surface Perception based on Whisker-Inspired and Self-Illuminated Vision-Based Tactile Sensor, Lei et al., arxiv 2023

• DenseTact-Mini: An Optical Tactile Sensor for Grasping Multi-Scale Objects From Flat Surfaces, Do et al., arxiv 2023

• GelSight Svelte: A Human Finger-shaped Single-camera Tactile Robot Finger with Large Sensing Coverage and Proprioceptive Sensing, Zhao et al., arxiv 2023

• GelSight Svelte Hand: A Three-finger, Two-DoF, Tactile-rich, Low-cost Robot Hand for Dexterous Manipulation, Zhao et al., arxiv 2023

• A Vision-Based Tactile Sensing System for Multimodal Contact Information Perception via Neural Network, Xu et al., arxiv 2023

• Towards Design and Development of an ArUco Markers-Based Quantitative Surface Tactile Sensor, Kara et al., arxiv 2023

• Dynamic Focusing (DF) Cone-Based Omnidirectional Fingertip Pressure Sensor with High Sensitivity in a Wide Pressure Range, Seo et al., MDPI Sensors 2023

• MC-Tac: Modular Camera-Based Tactile Sensor for Robot Gripper, Ren et al., ICIRA 2023

• Evetac: An Event-based Optical Tactile Sensor for Robotic Manipulation, Funk et al., TRO 2023

• GelStereo BioTip: Self-Calibrating Bionic Fingertip Visuotactile Sensor for Robotic Manipulation, Cui et al., TMech 2023

• A Soft and Inflatable Vision-Based Tactile Sensor for Inspection of Constrained and Confined Spaces, Kim et al., IEEE Sensors 2023

• AELTac: A vision-based electroluminescent tactile sensing skin for force localization and magnitude estimation, Fu et al., IEEE Sensors 2024

• TSATac: A Thermoluminescence Enabled Tactile Sensor for Concurrent Perception of Temperature, Pressure, and Shear, Song et al., arxiv 2024

• ViTacTip: Design and Verification of a Novel Biomimetic Physical Vision-Tactile Fusion Sensor, Fan et al., arxiv 2024

• MagicTac: A Novel High-Resolution 3D Multi-layer Grid-Based Tactile Sensor, Fan et al., arxiv 2024

• Scalable, Simulation-Guided Compliant Tactile Finger Design, Ma et al., arxiv 2024

• GelLink: A Compact Multi-phalanx Finger with Vision-based Tactile Sensing and Proprioception, Ma et al., arxiv 2024

• Using Fiber Optic Bundles to Miniaturize Vision-Based Tactile Sensors, Di et al., TRO 2024

• BioTacTip: A Soft Biomimetic Optical Tactile Sensor for Efficient 3D Contact Localization and 3D Force Estimation, Li et al., RAL 2024

• A Passively Bendable, Compliant Tactile Palm with RObotic Modular Endoskeleton Optical (ROMEO) Fingers, Liu et al., arxiv 2024

• Design and Evaluation of a Rapid Monolithic Manufacturing Technique for a Novel Vision-Based Tactile Sensor: C-Sight, Fan et al., MDPI Sensors 2024

• CrystalTac: 3D-Printed Vision-Based Tactile Sensor Family through Rapid Monolithic Manufacturing Technique, Fan et al., arxiv 2024

• Large-scale Deployment of Vision-based Tactile Sensors on Multi-fingered Grippers, Wang et al., arxiv 2024

• EyeSight Hand: Design of a Fully-Actuated Dexterous Robot Hand with Integrated Vision-Based Tactile Sensors and Compliant Actuation, Romero et al., arxiv 2024

• RainbowSight: A Family of Generalizable, Curved, Camera-Based Tactile Sensors For Shape Reconstruction, Tippur et al., ICRA 2024

• TacPalm: A Soft Gripper with a Biomimetic Optical Tactile Palm for Stable Precise Grasping, Zhang et al., arxiv 2024

• GelSlim 4.0: Focusing on Touch and Reproducibility, Sipos et al., arxiv 2024

• DTactive: A Vision-Based Tactile Sensor with Active Surface, Xu et al., arxiv 2024

• HumanFT: A Human-like Fingertip Multimodal Visuo-Tactile Sensor, Wu et al., arxiv 2024

• MiniTac: An Ultra-Compact 8 mm Vision-Based Tactile Sensor for Enhanced Palpation in Robot-Assisted Minimally Invasive Surgery, Li et al., RAL 2024

• Digitizing Touch with an Artificial Multimodal Fingertip, Lambeta et al., Meta 2024

• NUSense: Robust Soft Optical Tactile Sensor, Yergibay et al., arxiv 2024

• Behavioral biometric optical tactile sensor for instantaneous decoupling of dynamic touch signals in real time, Son et al., Nature Communications 2024

• Virtual prototyping of vision-based tactile sensors design for robotic-assisted precision machining, Zaid et al., Sensors and Actuators: A. Physical 2024

• GelSight FlexiRay: Breaking Planar Limits by Harnessing Large Deformations for Flexible, Full-Coverage Multimodal Sensing, Wang et al., arxiv 2024

• GelBelt: A Vision-based Tactile Sensor for Continuous Sensing of Large Surfaces, Mirzaee et al., RAL 2025

• ThinTact:Thin Vision-Based Tactile Sensor by Lensless Imaging, Xu et al., TRO 2025

• GelPoLight: A Novel Visual Tactile Sensor Based on Photometric Stereo with Point Lighting, Lu et al., IEEE Sensors 2025

• VET: A Visual-Electronic Tactile System for Immersive Human-Machine Interaction, Zhang et al., arxiv 2025

• VibTac: A High-Resolution High-Bandwidth Tactile Sensing Finger for Multi-Modal Perception in Robotic Manipulation, Athar et al., ToH 2025

• A Modularized Design Approach for Gelsight Family of Vision-based Tactile Sensors, Arpit et al., IJRR 2025

• PP-Tac: Paper Picking Using Tactile Feedback in Dexterous Robotic Hands, Lin et al., RSS 2025

• AllTact Fin Ray: A Compliant Robot Gripper with Omni-Directional Tactile Sensing, Liang et al., arxiv 2025

• Grasp EveryThing (GET): 1-DoF, 3-Fingered Gripper with Tactile Sensing for Robust Grasping, Burgess et al., arxiv 2025

• 3D Vision-tactile Reconstruction from Infrared and Visible Images for Robotic Fine-grained Tactile Perception, Lin et al., arxiv 2025

• StereoTacTip: Vision-based Tactile Sensing with Biomimetic Skin-Marker Arrangements, Lu et al., arxiv 2025

• UTact: Underwater Vision-Based Tactile Sensor with Geometry Reconstruction and Contact Force Estimation, Zhang et al., Advanced Robotics Research 2025

• UltraTac: Integrated Ultrasound-Augmented Visuotactile Sensor for Enhanced Robotic Perception, Gong et al., arxiv 2025

• TacScope: A Miniaturized Vision-Based Tactile Sensor for Surgical Applications, Prince et al., Advanced Robotics Research 2025

• MagicSkin: Balancing Marker and Markerless Modes in Vision-Based Tactile Sensors with a Translucent Skin, Tijani et al., arxiv 2025

• TacFinRay: Soft Tactile Fin-Ray Finger with Indirect Tactile Sensing for Robust Grasping, Nam et al., arxiv 2025

• Combining Finger Vision and Optical Tactile Sensing: Reducing and Handling Errors While Cutting Vegetables, Yamaguchi et al., Humanoids 2016

• Robotic grasp control with high-resolution combined tactile and proximity sensing, Shimonomura et al., ICRA 2016

• Seeing Through your Skin: Recognizing Objects with a Novel Visuotactile Sensor, Hogan et al., WACV 2021

• UVtac: Switchable UV Marker-Based Tactile Sensing Finger for Effective Force Estimation and Object Localization, Kim et al., RAL 2022

• Finger-STS: Combined Proximity and Tactile Sensing for Robotic Manipulation, Hogan et al., RAL 2022

• SpecTac: A Visual-Tactile Dual-Modality Sensor Using UV Illumination, Wang et al., ICRA 2022

• StereoTac: a Novel Visuotactile Sensor that Combines Tactile Sensing with 3D Vision, Roberge et al., arxiv 2023

• TIRgel: A Visuo-Tactile Sensor With Total Internal Reflection Mechanism for External Observation and Contact Detection, Zhang et al., RAL 2023

• VisTac Toward a Unified Multimodal Sensing Finger for Robotic Manipulation, Athar et al., IEEE Sensors 2023

• CompdVision: Combining Near-Field 3D Visual and Tactile Sensing Using a Compact Compound-Eye Imaging System, Luo et al., arxiv 2023

• Vision-based Proximity and Tactile Sensing for Robot Arms: Design, Perception, and Control, Luu et al., TRO 2025

• Simultaneous Tactile-Visual Perception for Learning Multimodal Robot Manipulation, Li et al., arxiv 2025

• Magnetic Resonance-Compatible Tactile Force Sensor Using Fiber Optics and Vision Sensor, Xie et al., IEEE Sensors 2014

• Flexible Capacitive Tactile Sensor Array With Truncated Pyramids as Dielectric Layer for Three-Axis Force Measurement, Liang et al., JMEMS 2015

• A hierarchically patterned, bioinspired e-skin able to detect the direction of applied pressure for robotics, Boutry et al., Science Robotics 2018

• Data-Driven Super-Resolution on a Tactile Dome, Piacenza et al., RAL 2018

• A High-Sensitivity Tactile Sensor Array Based on Fiber Bragg Grating Sensing for Tissue Palpation in Minimally Invasive Surgery, Li et al., Transactions on Mechatronics 2018

• Touch Sensors with Overlapping Signals: Concept Investigation on Planar Sensors with Resistive or Optical Transduction, Piacenza et al., arxiv 2018

• Learning the Signatures of the Human Grasp Using a Scalable Tactile Glove, Sundaram et al., Nature 2019

• A Sensorized Multicurved Robot Finger With Data-Driven Touch Sensing via Overlapping Light Signals, Piacenza et al., Transactions on Mechatronics 2020

• Skin-inspired quadruple tactile sensors integrated on a robot hand enable object recognition, Li et al., Science Robotics 2020

• Event-Driven Visual-Tactile Sensing and Learning for Robots, Taunyazov et al., arxiv 2020

• Extended Tactile Perception: Vibration Sensing through Tools and Grasped Objects, Taunyazov et al., IROS 2021

• Haptic-feedback smart glove as a creative human-machine interface (HMI) for virtual/augmented reality applications, Zhu et al., Science Advances 2020

• Soft magnetic skin for super-resolution tactile sensing with force self-decoupling, Yan et al., Science Robotics 2021

• ReSkin: versatile, replaceable, lasting tactile skins, Bhirangi et al., arxiv 2021

• IntelligentCarpet: Inferring 3D Human Pose from Tactile Signals, Yiyue Luo et al., CVPR 2021

• Learning Human-environment Interactions using Conformal Tactile Textiles, Luo et al., Nature Electronics 2021

• Design of a 3D-Printed Soft Robotic Hand With Integrated Distributed Tactile Sensing, Shorthose et al., RAL 2022

• A Biomimetic Tactile Palm for Robotic Object Manipulation, Lei et al., RAL 2022

• Contact Shape and Pose Recognition: Utilizing a Multipole Magnetic Tactile Sensor with a Metalearning Model, Xia et al., MRA 2022

• Guiding the design of superresolution tactile skins with taxel value isolines theory, Sun et al., Science Robotics 2022

• Reflective Optical Tactile Sensor Based on Fiber Specklegram Analysis With the Capability of Contact Position Identification, Liu et al., Journal of Lightwave Technology 2023

• A Multimodal Sensing Ring for Quantification of Scratch Intensity, Padmanabha et al., arxiv 2023

• A novel tactile palm for robotic object manipulation, Zhao et al., arxiv 2023

• Highly Interpretable Representation for Multi-Dimensional Tactile Perception, Gui et al., IEEE Transactions on Medical Robotics and Bionics 2024

• AnySkin: Plug-and-play Skin Sensing for Robotic Touch, Bhirangi et al., arxiv 2024

• Design and Benchmarking of A Multi-Modality Sensor for Robotic Manipulation with GAN-Based Cross-Modality Interpretation, Zhang et al., TRO 2025

• DexSkin: High-Coverage Conformable Robotic Skin for Learning Contact-Rich Manipulation, Wistreich et al., CoRL 2025

• Localization and manipulation of small parts using GelSight tactile sensing, Li et al., IROS 2014

• Reliable object handover through tactile force sensing and effort control in the Shadow Robot hand, Eguíluz et al., ICRA 2017

• Reliable robotic handovers through tactile sensing, Eguíluz et al., Autonomous Robots 2019

• Tactile-Based Insertion for Dense Box-Packing, Dong et al., IROS 2019

• Maintaining Grasps within Slipping Bounds by Monitoring Incipient Slip, Dong et al., ICRA 2019

• Manipulation by feel: Touch-based control with deep predictive models, Tian et al., ICRA 2019

• Building a Library of Tactile Skills Based on FingerVision, Belousov et al., Humanoids 2019

• Self-Attention Based Visual-Tactile Fusion Learning for Predicting Grasp Outcomes, Cui et al., RAL 2020

• Deep Reinforcement Learning for Tactile Robotics: Learning to Type on a Braille Keyboard, Church et al., RAL 2020

• Swingbot: Learning physical features from in-hand tac?tile exploration for dynamic swing-up manipulation, Wang et al., IROS 2020

• Tactile Dexterity: Manipulation Primitives with Tactile Feedback, Hogan et al., ICRA 2020

• Cable manipulation with a tactile-reactive gripper, She et al., IJRR 2021

• A Robust Controller for Stable 3D Pinching Using Tactile Sensing, Psomopoulou et al., RAL 2021

• Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry, Dong et al., ICRA 2021

• Improving Grasp Stability with Rotation Measurement from Tactile Sensing, Kolamuri et al., IROS 2021

• Dynamic Modeling of Hand-Object Interactions via Tactile Sensing, Zhang et al., IROS 2021

• SEED: Series Elastic End Effectors in 6D for Visuotactile Tool Use, Suh et al., arxiv 2021

• Learning Generalizable Vision-Tactile Robotic Grasping Strategy for Deformable Objects via Transformer, Han et al., arxiv 2021

• Meta-Residual Policy Learning: Zero-Trial Robot Skill Adaptation via Knowledge Fusion, Hao et al., RAL 2022

• Active Visuo-Tactile Interactive Robotic Perception for Accurate Object Pose Estimation in Dense Clutter, Murali et al., RAL 2022

• Autonomous Learning of Page Flipping Movements via Tactile Feedback, Zheng et al., TRO 2022

• Where Shall I Touch? Vision-Guided Tactile Poking for Transparent Object Grasping, Jiang et al., Transactions on Mechatronics 2022

• Efficient Tactile Simulation with Differentiability for Robotic Manipulation, Xu et al., CoRL 2022

• Tactile Pose Estimation and Policy Learning for Unknown Object Manipulation, Kelestemur et al., arxiv 2022

• Visuo-Tactile Transformers for Manipulation, Chen et al., arxiv 2022

• Grasp Stability Prediction with Sim-to-Real Transfer from Tactile Sensing, Si et al., arxiv 2022

• Safely Learning Visuo-Tactile Feedback Policies in Real For Industrial Insertion, Fu et al., arxiv 2022

• Manipulation via Membranes: High-Resolution and Highly Deformable Tactile Sensing and Control, Oller et al., arxiv 2022

• Learning Self-Supervised Representations from Vision and Touch for Active Sliding Perception of Deformable Surfaces, Kerr et al., arxiv 2022

• Active Extrinsic Contact Sensing: Application to General Peg-in-Hole Insertion, Kim et al., ICRA 2022

• Task-Driven In-Hand Manipulation of Unknown Objects with Tactile Sensing, Pan et al., arxiv 2022

• Visual-tactile Fusion for Transparent Object Grasping in Complex Backgrounds, Li et al., arxiv 2022

• Integrating High-Resolution Tactile Sensing into Grasp Stability Prediction, Chumbley et al., CRV 2022

• Heuristic grasping of convex objects using 3D imaging and tactile sensing in uncalibrated grasping scenarios, Eguíluz et al., Expert Systems with Applications 2022

• Skill generalization of tubular object manipulation with tactile sensing and Sim2Real learning, Zhao et al., Robotics and Autonomous Systems 2023

• Learning height for top-down grasps with the DIGIT sensor, Bernardi et al., ICRA 2023

• Deep Functional Predictive Control for Strawberry Cluster Manipulation using Tactile Prediction, Nazari et al., arxiv 2023

• Cable Routing and Assembly using Tactile-driven Motion Primitives, Wilson et al., ICRA 2023

• Tactile-Filter: Interactive Tactile Perception for Part Mating, Ota et al., arxiv 2023

• Learning to Detect Slip through Tactile Measures of the Contact Force Field and its Entropy, Hu et al., arxiv 2023

• Visuo-Tactile Sensor Enabled Pneumatic Device Towards Compliant Oropharyngeal Swab Sampling, Li et al., arxiv 2023

• Integrated Object Deformation and Contact Patch Estimation from Visuo-Tactile Feedback, Merwe et al., arxiv 2023

• Learning-Based Slip Detection for Dexterous Manipulation Using GelStereo Sensing, Cui et al., TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS 2023

• Enabling Robot Manipulation of Soft and Rigid Objects with Vision-based Tactile Sensors, Welle et al., arxiv 2023

• TacMMs: Tactile Mobile Manipulators for Warehouse Automation, He et al., RAL 2023

• Visual-Tactile Learning of Garment Unfolding for Robot-Assisted Dressing, Zhang et al., RAL 2023

• Grasp Stability Assessment Through Attention-Guided Cross-Modality Fusion and Transfer Learning, Zhang et al., arxiv 2023

• TactileVAD: Geometric Aliasing-Aware Dynamics for High-Resolution Tactile Control, Oller et al., CoRL 2023

• Precise Robotic Needle-Threading with Tactile Perception and Reinforcement Learning, Yu et al., CoRL 2023

• General In-hand Object Rotation with Vision and Touch, Qi et al., CoRL 2023

• Inter-finger Small Object Manipulation with DenseTact Optical Tactile Sensor, Do et al., arxiv 2023

• Embedded Object Detection and Mapping in Soft Materials Using Optical Tactile Sensing, Solano-Castellanos et al., arxiv 2023

• VisTac Towards a Unified Multi-Modal Sensing Finger for Robotic Manipulation, Athar et al., IEEE Sensors 2023

• Laboratory Automation: Precision Insertion with Adaptive Fingers utilizing Contact through Sliding with Tactile-based Pose Estimation, Pai et al., arxiv 2023

• AcTExplore: Active Tactile Exploration on Unknown Objects, Shahidzadeh et al., arxiv 2023

• MimicTouch: Learning Human's Control Strategy with Multi-Modal Tactile Feedbacks, Yu et al., arxiv 2023

• Tactile Active Inference Reinforcement Learning for Efficient Robotic Manipulation Skill Acquisition, Liu et al., arxiv 2023

• Evetac: An Event-based Optical Tactile Sensor for Robotic Manipulation, Funk et al., TRO 2023

• Pose and shear-based tactile servoing, Lloyd et al., IJRR 2023

• GelStereo BioTip: Self-Calibrating Bionic Fingertip Visuotactile Sensor for Robotic Manipulation, Cui et al., TMech 2023

• Perceiving Extrinsic Contacts from Touch Improves Learning Insertion Policies, Higuera et al., arxiv 2023

• Neural feels with neural fields: Visuo-tactile perception for in-hand manipulation, Suresh et al., arxiv 2023

• The Power of the Senses: Generalizable Manipulation from Vision and Touch through Masked Multimodal Learning, Sferrazza et al., arxiv 2023

• TEXterity: Tactile Extrinsic deXterity, Bronars et al., arxiv 2024

• Tac-Man: Tactile-Informed Prior-Free Manipulation of Articulated Objects, Zhao et al., arxiv 2024

• LeTac-MPC: Learning Model Predictive Control for Tactile-reactive Grasping, Xu et al., arxiv 2024

• Visuo-Tactile Pretraining for Cable Plugging, George et al., arxiv 2024

• Stable Object Placing using Curl and Diff Features of Vision-based Tactile Sensors, Takahashi et al., arxiv 2024

• DexiTac: Soft Dexterous Tactile Gripping, Lu et al., Transactions on Mechatronics 2024

• Learning Tactile Insertion in the Real World, Palenicek et al., arxiv 2024

• Generalize by Touching: Tactile Ensemble Skill Transfer for Robotic Furniture Assembly, Lin et al., ICRA 2024

• SimPLE, a visuotactile method learned in simulation to precisely pick, localize, regrasp, and place objects, Bauza et al., Science Robotics 2024

• RoTipBot: Robotic Handling of Thin and Flexible Objects using Rotatable Tactile Sensors, Jiang et al., arxiv 2024

• RoboPack: Learning Tactile-Informed Dynamics Models for Dense Packing, Ai et al., RSS 2024

• Learning In-Hand Translation Using Tactile Skin With Shear and Normal Force Sensing, Yin et al., arxiv 2024

• Jointly Understand Visual and Tactile Signals, Li et al., ICLR 2024

• In-Hand Singulation and Scooping Manipulation with a 5 DOF Tactile Gripper, Zhou et al., arxiv 2024

• T-TD3: A Reinforcement Learning Framework for Stable Grasping of Deformable Objects Using Tactile Prior, Zhou et al., T-ASE 2024

• Learning Task Planning from Multi-Modal Demonstration for Multi-Stage Contact-Rich Manipulation, Chen et al., arxiv 2024

• Bimanual In-hand Manipulation using Dual Limit Surfaces, Dang et al., arxiv 2024

• Extremum Seeking Controlled Wiggling for Tactile Insertion, Burner et al., arxiv 2024

• T-TD3: A Reinforcement Learning Framework for Stable Grasping of Deformable Objects Using Tactile Prior, Zhou et al., TASE 2024

• 3D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensing, Huang et al., CoRL 2024

• Analysing the Interplay of Vision and Touch for Dexterous Insertion Tasks, Lenz et al., arxiv 2024

• TARS: Tactile Affordance in Robot Synesthesia for Dexterous Manipulation, Wu et al., RAL 2024

• Image-Based Tactile Deformation Simulation and Pose Estimation for Robot Skill Learning, Fu et al., Applied Sciences 2025

• Multimodal and Force-Matched Imitation Learning With a See-Through Visuotactile Sensor, Ablett et al., TRO 2024

• DIH-Tele: Dexterous In-Hand Teleoperation Framework for Learning Multiobjects Manipulation With Tactile Sensing, Huang et al., TRANSACTIONS ON MECHATRONICS 2025

• Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation, Xue et al., arxiv 2025

• GelFusion: Enhancing Robotic Manipulation under Visual Constraints via Visuotactile Fusion, Jiang et al., arxiv 2025

• PolyTouch: A Robust Multi-Modal Tactile Sensor for Contact-rich Manipulation Using Tactile-Diffusion Policies, Zhao et al., ICRA 2025

• FreeTacMan: Robot-free Visuo-Tactile Data Collection System for Contact-rich Manipulation, Wu et al., arxiv 2025

• TactileAloha: Learning Bimanual Manipulation with Tactile Sensing, Gu et al., RAL 2025

• SimShear: Sim-to-Real Shear-based Tactile Servoing, Freud et al., arxiv 2025

• Reactive In-Air Clothing Manipulation with Confidence-Aware Dense Correspondence and Visuotactile Affordance, Sunil et al., CoRL 2025

• Text2Touch: Tactile In-Hand Manipulation with LLM-Designed Reward Functions, Field et al., arxiv 2025

• exUMI: Extensible Robot Teaching System with Action-aware Task-agnostic Tactile Representation, Xu et al., CoRL 2025

• Touch begins where vision ends: Generalizable policies for contact-rich manipulation, Zhao et al., arxiv 2025

• Majority Voting: Material Classification by Tactile Sensing Using Surface Texture, Jamali et al., TRO 2011

• Sensing and recognizing surface textures using a gelsight sensor, Li et al., CVPR 2013

• Continuous material identification through tactile sensing, Eguíluz et al., IJCNN 2016

• A multi-modal approach to continuous material identification through tactile sensing, Eguíluz et al., IROS 2016

• Multimodal Material identification through recursive tactile sensing, Eguíluz et al., RAS 2018

• Connecting Look and Feel: Associating the visual and tactile properties of physical materials, Yuan et al., CVPR 2017

• Shape-independent hardness estimation using deep learning and a GelSight tactile sensor, Yuan et al., ICRA 2017

• Vitac: Feature sharing between vision and tactile sensing for cloth texture recognition, Yuan et al., ICRA 2018

• Active clothing material perception using tactile sensing and deep learning, Yuan et al., ICRA 2018

• Understanding Dynamic Tactile Sensing for Liquid Property Estimation, Huang et al., arxiv 2022

• Visuotactile Affordances for Cloth Manipulation with Local Control, Sunil et al., arxiv 2022

• See, Hear, and Feel: Smart Sensory Fusion for Robotic Manipulation, Li et al., arxiv 2022

• TANDEM: Learning Joint Exploration and Decision Making With Tactile Sensors, Xu et al., RAL 2022

• TANDEM3D: Active Tactile Exploration for 3D Object Recognition, Xu et al., ICRA 2023

• Multimodal Zero-Shot Learning for Tactile Texture Recognition, Cao et al., arxiv 2023

• Controllable Visual-Tactile Synthesis, Gao et al., arxiv 2023

• Estimating Properties of Solid Particles Inside Container Using Touch Sensing, Guo et al., arxiv 2023

• Aerial Interaction with Tactile Sensing, Guo et al., arxiv 2023

• Sim2Real Bilevel Adaptation for Object Surface Classification using Vision-Based Tactile Sensors, Caddeo et al., arxiv 2023

• Dynamic Layer Detection of a Thin Silk Cloth using DenseTact Optical Tactile Sensors, Chungyoun et al., arxiv 2024

• Sim2Surf: a Sim2Real Surface Classifier for Vision-Based Tactile Sensors with a Bilevel Adaptation Pipeline, Caddeo et al., IEEE Sensors 2025

• RA-Touch: Retrieval-Augmented Touch Understanding with Enriched Visual Data, Cho et al., ACM MM 2025

• Tracking objects with point clouds from vision and touch, Izatt et al., ICRA 2017

• 3D Shape Perception from Monocular Vision, Touch, and Shape Priors, Wang et al., IROS 2018

• End-to-end pixelwise surface normal estimation with convolutional neural networks and shape reconstruction using GelSight sensor, Li et al., ROBIO 2018

• From Pixels to Percepts: Highly Robust Edge Perception and Contour Following Using Deep Learning and an Optical Biomimetic Tactile Sensor, Lepora et al., RAL 2019

• Convolutional Autoencoder for Feature Extraction in Tactile Sensing, Polic et al., RAL 2019

• Tactile Mapping and Localization from High-Resolution Tactile Imprints, Bauza et al., ICRA 2019

• Fast Model-Based Contact Patch and Pose Estimation for Highly Deformable Dense-Geometry Tactile Sensors, Kuppuswamy et al., RAL 2020

• Deep Gated Multi-modal Learning: In-hand Object Pose Changes Estimation using Tactile and Image Data, Anzai et al., IROS 2020

• 3D Shape Reconstruction from Vision and Touch, Smith et al., NeurIPS 2020

• Tactile SLAM: Real-time inference of shape and pose from planar pushing, Suresh et al., ICRA 2021

• Tactile Object Pose Estimation from the First Touch with Geometric Contact Rendering, Bauza et al., CoRL 2021

• Active 3D Shape Reconstruction from Vision and Touch, Smith et al., NeurIPS 2021

• Active Visuo-Tactile Point Cloud Registration for Accurate Pose Estimation of Objects in an Unknown Workspace, Murali et al., arxiv 2021

• Learning Tactile Models for Factor Graph-based Estimation, Sodhi et al., ICRA 2021

• Tac2Pose: Tactile Object Pose Estimation from the First Touch, Bauza et al., arxiv 2022

• ShapeMap 3-D: Efficient shape mapping through dense touch and vision, Suresh et al., ICRA 2022

• PatchGraph: In-hand tactile tracking with learned surface normals, Sodhi et al., ICRA 2022

• MidasTouch: Monte-Carlo inference over distributions across sliding touch, Suresh et al., CoRL 2022

• Enhancing Generalizable 6D Pose Tracking of an In-Hand Object with Tactile Sensing, Xu et al., arxiv 2022

• Using Collocated Vision and Tactile Sensors for Visual Servoing and Localization, Chaudhury et al., arxiv 2022

• Simultaneous Contact Location and Object Pose Estimation Using Proprioception and Tactile Feedback, Sipos et al., arxiv 2022

• VisuoTactile 6D Pose Estimation of an In-Hand Object Using Vision and Tactile Sensor Data, Dikhale et al., RAL 2022

• In-Hand Pose Estimation Using Hand-Mounted RGB Cameras and Visuotactile Sensors, Gao et al., IEEE 2023

• Tac2Structure: Object Surface Reconstruction Only Through Multi Times Touch, Lu et al., RAL 2023

• Tac-VGNN: A Voronoi Graph Neural Network for Pose-Based Tactile Servoing, Fan et al., arxiv 2023

• FingerSLAM: Closed-loop Unknown Object Localization and Reconstruction from Visuo-tactile Feedback, Zhao et al., arxiv 2023

• TactoFind: A Tactile Only System for Object Retrieval, Pai et al., arxiv 2023

• Touch if it's transparent! ACTOR: Active Tactile-based Category-Level Transparent Object Reconstruction, Murali et al., arxiv 2023

• ViHOPE: Visuotactile In-Hand Object 6D Pose Estimation with Shape Completion, Li et al., RAL 2023

• Sliding Touch-based Exploration for Modeling Unknown Object Shape with Multi-fingered Hands, Chen et al., IROS 2023

• Collision-aware In-hand 6D Object Pose Estimation using Multiple Vision-based Tactile Sensors, Caddeo et al., ICRA 2023

• Tactile-Filter: Interactive Tactile Perception for Part Mating, Ota et al., RSS 2023

• Enhanced Information Extraction from Cylindrical Visual-Tactile Sensors via Image Fusion, Li et al., arxiv 2023

• TouchSDF: A DeepSDF Approach for 3D Shape Reconstruction using Vision-Based Tactile Sensing, Comi et al., arxiv 2023

• Grasping, Part Identification, and Pose Refinement in One Shot with a Tactile Gripper, Lim et al., arxiv 2023

• Measuring Object Rotation via Visuo-Tactile Segmentation of Grasping Region, Castano-Amoros et al., RAL 2023

• TransTouch: Learning Transparent Objects Depth Sensing Through Sparse Touches, Bian et al., IROS 2023

• Snap-it, Tap-it, Splat-it: Tactile-Informed 3D Gaussian Splatting for Reconstructing Challenging Surfaces, Comi et al., arxiv 2024

• Tactile-Augmented Radiance Fields, Dou et al., CVPR 2024

• Touch-GS: Visual-Tactile Supervised 3D Gaussian Splatting, Swann et al., arxiv 2024

• HyperTaxel: Hyper-Resolution for Taxel-Based Tactile Signals Through Contrastive Learning, Li et al., arxiv 2024

• NormalFlow: Fast, Robust, and Accurate Contact-based Object 6DoF Pose Tracking with Vision-based Tactile Sensors, Huang et al., RAL 2024

• GelSLAM: A Real-time, High-Fidelity, and Robust 3D Tactile SLAM System, Huang et al., arxiv 2025

• UniTac2Pose: A Unified Approach Learned in Simulation for Category-level Visuotactile In-hand Pose Estimation, Wu et al., CoRL 2025

• Extrinsic Contact Sensing with Relative-Motion Tracking from Distributed Tactile Measurements, Ma et al., ICRA 2021

• Simultaneous Tactile Estimation and Control of Extrinsic Contact, Kim et al., ICRA 2023

• Neural Contact Fields: Tracking Extrinsic Contact with Tactile Sensing, Higuera et al., ICRA 2023

• Perceiving Extrinsic Contacts from Touch Improves Learning Insertion Policies, Higuera et al., arxiv 2023

• Simultaneous Tactile Estimation and Control for Extrinsic Dexterity, Bronars et al., arxiv 2023

• TEXterity: Tactile Extrinsic deXterity, Bronars et al., arxiv 2024

• Visual-auditory Extrinsic Contact Estimation, Yi et al., arxiv 2024

• ViTaSCOPE: Visuo-tactile Implicit Representation for In-hand Pose and Extrinsic Contact Estimation, Lee et al., RSS 2025

• Deep Tactile Experience: Estimating Tactile Sensor Output from Depth Sensor Data, Patel et al., IROS 2020

• Touching a NeRF: Leveraging Neural Radiance Fields for Tactile Sensory Data Generation, Zhong et al., CoRL 2022

• Vis2Hap: Vision-based Haptic Rendering by Cross-modal Generation, Cao et al., ICRA 2023

• Learning to Read Braille: Bridging the Tactile Reality Gap with Diffusion Models, Higuera et al., ICRA 2023

• Marker-Embedded Tactile Image Generation via Generative Adversarial Networks, Kim et al., RAL 2023

• Generating Visual Scenes from Touch, Yang et al., ICCV 2023

• Touch2Touch: Cross-Modal Tactile Generation for Object Manipulation, Rodriguez et al., arxiv 2024

• Tactile DreamFusion: Exploiting Tactile Sensing for 3D Generation, Gao et al., NeurIPS 2024

• CONTROLTAC: Force- and Position-Controlled Tactile Data Augmentation with a Single Reference Image, Luo et al., arxiv 2025

• Cross-Sensor Touch Generation, Rodriguez et al., CoRL 2025

• Touch and Go: Learning from Human-Collected Vision and Touch, Yang et al., NeurIPS 2022

• Dexterity from Touch: Self-Supervised Pre-Training of Tactile Representations with Robotic Play, Guzey et al., arxiv 2023

• Investigating Vision Foundational Models for Tactile Representation Learning, Zandonati et al., arxiv 2023

• Binding Touch to Everything: Learning Unified Multimodal Tactile Representations, Yang et al., CVPR 2024

• Multimodal Visual-Tactile Representation Learning through Self-Supervised Contrastive Pre-Training, Dave et al., arxiv 2024

• Touch100k: A Large-Scale Touch-Language-Vision Dataset for Touch-Centric Multimodal Representation, Cheng et al., arxiv 2024

• Marker or Markerless? Mode-Switchable Optical Tactile Sensing for Diverse Robot Tasks, Ou et al., arxiv 2024

• Tactile Functasets: Neural Implicit Representations of Tactile Datasets, Li et al., arxiv 2024

• Contrastive Touch-to-Touch Pretraining, Rodriguez et al., arxiv 2024

• T3: Transferable Tactile Transformers, Zhao et al., arxiv 2024

• UniT: Unified Tactile Representation for Robot Learning, Xu et al., arxiv 2024

• Sparsh: Self-supervised touch representations for vision-based tactile sensing, Higuera et al., arxiv 2024

• Touch-to-Touch Translation - Learning the Mapping Between Heterogeneous Tactile Sensing Technologies, Grella et al., arxiv 2024

• Reducing Cross-Sensor Domain Gaps in Tactile Sensing via Few-Sample-Driven Style-to-Content Unsupervised Domain Adaptation, Jing et al., MDPI Sensors 2025

• Canonical Representation and Force-Based Pretraining of 3D Tactile for Dexterous Visuo-Tactile Policy Learning, Wu et al., arxiv 2024

• AnyTouch: Learning Unified Static-Dynamic Representation across Multiple Visuo-tactile Sensors, Feng et al., ICLR 2025

• UniTac-NV: A Unified Tactile Representation For Non-Vision-Based Tactile Sensors, Hou et al., arxiv 2025

• ConViTac: Aligning Visual-Tactile Fusion with Contrastive Representations, Wu et al., arxiv 2025

• Dense Tactile Force Estimation using GelSlim and inverse FEM, Ma et al., ICRA 2019

• Sensing Shear Forces During Food Manipulation: Resolving the Trade-Off Between Range and Sensitivity, Song et al., ICRA 2019

• 3D Force and Contact Estimation for a Soft-Bubble Visuotactile Sensor Using FEM, Peng et al., arxiv 2023

• A Predictive Model for Tactile Force Estimation using Audio-Tactile Data, Niederhauser et al., RAL 2023

• Deep Domain Adaptation Regression for Force Calibration of Optical Tactile Sensors, Chen et al., arxiv 2024

• FeelAnyForce: Estimating Contact Force Feedback from Tactile Sensation for Vision-Based Tactile Sensors, Shahidzadeh et al., arxiv 2024

• TransForce: Transferable Force Prediction for Vision-based Tactile Sensors with Sequential Image Translation, Chen et al., arxiv 2024

• Grasping Force Estimation for Markerless Visuotactile Sensors, Amoros et al., arxiv 2024

• Interaction force estimation for tactile sensor arrays: Toward tactile-based interaction control for robotic fingers, Chelly et al., arxiv 2024

• iFEM2.0: Dense 3D Contact Force Field Reconstruction and Assessment for Vision-Based Tactile Sensors, Zhao et al., TRO 2024

• TensorTouch: Calibration of Tactile Sensors for High Resolution Stress Tensor and Deformation for Dexterous Manipulation, Do et al., arxiv 2025

• A Touch, Vision, and Language Dataset for Multimodal Alignment, Fu et al., arxiv 2024

• Binding Touch to Everything: Learning Unified Multimodal Tactile Representations, Yang et al., CVPR 2024

• Octopi: Object Property Reasoning with Large Tactile-Language Models, Yu et al., RSS 2024

• Touch100k: A Large-Scale Touch-Language-Vision Dataset for Touch-Centric Multimodal Representation, Cheng et al., arxiv 2024

• CLTP: Contrastive Language-Tactile Pre-training for 3D Contact Geometry Understanding, Ma et al., arxiv 2025

• Demonstrating the Octopi-1.5 Visual-Tactile-Language Model, Yu et al., RSS 2025

• Tactile-VLA: Unlocking Vision-Language-Action Model's Physical Knowledge for Tactile Generalization, Huange et al., arxiv 2025

• Universal Visuo-Tactile Video Understanding for Embodied Interaction, Xie et al., arxiv 2025

• OmniVTLA: Vision-Tactile-Language-Action Model with Semantic-Aligned Tactile Sensing, Cheng et al., arxiv 2025

• Text2Touch: Tactile In-Hand Manipulation with LLM-Designed Reward Functions, Field et al., arxiv 2025

• All the Feels: A dexterous hand with large-area tactile sensing, Bhirangi et al., arxiv 2022

• Learning Purely Tactile In-Hand Manipulation with a Torque-Controlled Hand, Sievers et al., ICRA 2022

• Sampling-based Exploration for Reinment Learning of Dexterous Manipulation, Khandate et al., arxiv 2023

• Rotating without Seeing: Towards In-hand Dexterity through Touch, Yin et al., arxiv 2023

• Dexterity from Touch: Self-Supervised Pre-Training of Tactile Representations with Robotic Play, Guzey et al., arxiv 2023

• See to Touch: Learning Tactile Dexterity through Visual Incentives, Guzey et al., arxiv 2023

• TacGNN: Learning Tactile-based In-hand Manipulation with a Blind Robot using Hierarchical Graph Neural Network, Yang et al., arxiv 2023

• General In-Hand Object Rotation with Vision and Touch, Qi et al., arxiv 2023

• Dextrous Tactile In-Hand Manipulation Using a Modular Reinment Learning Architecture, Pitz et al., ICRA 2023

• Estimator-Coupled Reinforcement Learning for Robust Purely Tactile In-Hand Manipulation, Röstel et al., Humanoids 2023

• Tactile SoftHand-A: 3D-Printed, Tactile, Highly-underactuated, Anthropomorphic Robot Hand with an Antagonistic Tendon Mechanism, Li et al., arxiv 2024

• Learning a Shape-Conditioned Agent for Purely Tactile In-Hand Manipulation of Various Objects, Pitz et al., IROS 2024

• Learning Time-Optimal and Speed-Adjustable Tactile In-Hand Manipulation, Pitz et al., Humanoids 2024

• Visuotactile-Based Learning for Insertion with Compliant Hands, Azulay et al., arxiv 2024

• PP-Tac: Paper Picking Using Tactile Feedback in Dexterous Robotic Hands, Lin et al., RSS 2025

• MimicTouch: Leveraging Multi-modal Human Tactile Demonstrations for Contact-rich Manipulation, Yu et al., CoRL 2024

• Learning Visuotactile Skills with Two Multifingered Hands, Lin et al., arxiv 2024

• ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data, Liu et al., CoRL 2024

• 3D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensing, Huang et al., CoRL 2024

• Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning, Ding et al., arxiv 2024

• Learning Precise, Contact-Rich Manipulation through Uncalibrated Tactile Skins, Pattabiraman et al., arxiv 2024

• Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation, Xue et al., RSS 2025

• DOGlove: Dexterous Manipulation with a Low-Cost Open-Source Haptic Force Feedback Glove, Zhang et al., RSS 2025

• FACTR: Force-Attending Curriculum Training for Contact-Rich Policy Learning, Liu et al., RSS 2025

• TacCap: A Wearable FBG-Based Tactile Sensor for Seamless Human-to-Robot Skill Transfer, Xing et al., arxiv 2025

• ViTaMIn: Learning Contact-Rich Tasks Through Robot-Free Visuo-Tactile Manipulation Interface, Liu et al., arxiv 2025

• TactileAloha: Learning Bimanual Manipulation With Tactile Sensing, Gu et al., RAL 2025

• PolyTouch: A Robust Multi-Modal Tactile Sensor for Contact-rich Manipulation Using Tactile-Diffusion Policies, Zhao et al., ICRA 2025

• GelFusion: Enhancing Robotic Manipulation under Visual Constraints via Visuotactile Fusion, Jiang et al., arxiv 2025

• FreeTacMan: Robot-free Visuo-Tactile Data Collection System for Contact-rich Manipulation, Wu et al., arxiv 2025

• DEXOP: A Device for Robotic Transfer of Dexterous Human Manipulation, Fang et al., arxiv 2025

• ViTacFormer: Learning Cross-Modal Representation for Visuo-Tactile Dexterous Manipulation, Heng et al., arxiv 2025

• DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation, Xu et al., CoRL 2025

• DEXOP: A Device for Robotic Transfer of Dexterous Human Manipulation, Fang et al., arxiv 2025

• exUMI: Extensible Robot Teaching System with Action-aware Task-agnostic Tactile Representation, Xu et al., CoRL 2025

• ViTaMIn-B: A Reliable and Efficient Visuo-Tactile Bimanual Manipulation Interface, Li et al., arxiv 2025

• Simultaneous Tactile-Visual Perception for Learning Multimodal Robot Manipulation, Li et al., arxiv 2025

• LocoTouch: Learning Dynamic Quadrupedal Transport with Tactile Sensing, Lin et al., CoRL 2025

• Exploiting Distributed Tactile Sensors to Drive a Robot Arm Through Obstacles, Albini et al., RAL 2021

• Extended Tactile Perception: Vibration Sensing through Tools and Grasped Objects, Taunyazov et al., IROS 2021

• MidasTouch: Monte-Carlo inference over distributions across sliding touch, Suresh et al., CoRL 2022

• SLURP! Spectroscopy of Liquids Using Robot Pre-Touch Sensing, Hanson et al., arxiv 2022

• Learning to Synthesize Volumetric Meshes from Vision-based Tactile Imprints, Zhu et al., arxiv 2022

• Going In Blind: Object Motion Classification using Distributed Tactile Sensing for Safe Reaching in Clutter, Thomasson et al., arxiv 2022

• Development and Evaluation of a Learning-based Model for Real-time Haptic Texture Rendering, Heravi et al., arxiv 2022

• In-situ Mechanical Calibration for Vision-based Tactile Sensors, Zhao et al., ICRA 2023

• Low-Cost Teleoperation with Haptic Feedback through Vision-based Tactile Sensors for Rigid and Soft Object Manipulation, Lippi et al., arxiv 2024

• Real-Time Reconstruction of 3-D Tactile Motion Field via Multitask Learning, Liu et al., Transactions on Instrumentation and Measurement 2024

• Tactile Elastography, Xiang et al., TRO 2025

• Active Perception for Tactile Sensing: A Task-Agnostic Attention-Based Approach, Schneider et al., arxiv 2025

• Tactile MNIST: Benchmarking Active Tactile Perception, Schneider et al., arxiv 2025

• SuperMag: Vision-based Tactile Data Guided High-resolution Tactile Shape Reconstruction for Magnetic Tactile Sensors, Hou et al., arxiv 2025

• Benchmarking Resilience and Sensitivity of Polyurethane-Based Vision-Based Tactile Sensors, Davis et al., arxiv 2025

• Generation of GelSight Tactile Images for Sim2Real Learning, Gomes et al., RAL 2021

• Simulation of Vision-based Tactile Sensors using Physics based Rendering, Agarwal et al., ICRA 2021

• Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections, Narang et al., ICRA 2021

• Tactile Sim-to-Real Policy Transfer via Real-to-Sim Image Translation, Church et al., CoRL 2021

• Tactile Gym 2.0: Sim-to-Real Deep Reinforcement Learning for Comparing Low-Cost High-Resolution Robot Touch, Lin et al., RAL 2022

• TACTO: A Fast, Flexible, and Open-Source Simulator for High-Resolution Vision-Based Tactile Sensors, Wang et al., RAL 2022

• Taxim: An Example-Based Simulation Model for GelSight Tactile Sensors, Si et al., RAL 2022

• Bidirectional Sim-to-Real Transfer for GelSight Tactile Sensors With CycleGAN, Chen et al., RAL 2022

• Learning the Dynamics of Compliant Tool-Environment Interaction for Visuo-Tactile Contact Servoing, Merwe et al., arxiv 2022

• Efficient Tactile Simulation with Differentiability for Robotic Manipulation, Xu et al., CoRL 2022

• Tacchi: A Pluggable and Low Computational Cost Elastomer Deformation Simulator for Optical Tactile Sensors, Chen et al., RAL 2023

• Unsupervised Adversarial Domain Adaptation for Sim-to-Real Transfer of Tactile Images, Jing et al., Transactions on Instrumentation and Measurement 2023

• Beyond Flat GelSight Sensors: Simulation of Optical Tactile Sensors of Complex Morphologies for Sim2Real Learning, Gomes et al., RSS 2023

• Marker-Embedded Tactile Image Generation via Generative Adversarial Networks, Kim et al., RAL 2023

• Augmenting Tactile Simulators with Real-like and Zero-Shot Capabilities, Azulay et al., RAL 2023

• Tactile Imprint Simulation of GelStereo Visuotactile Sensors, Cui et al., ICMA 2023

• TacIPC: Intersection- and Inversion-free FEM-based Elastomer Simulation For Optical Tactile Sensors, Du et al., arxiv 2023

• General-Purpose Sim2Real Protocol for Learning Contact-Rich Manipulation With Marker-Based Visuotactile Sensors, Chen et al., TRO 2024

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• 9DTact
• DIGIT
• GelSight Mini
• FingerVision
• BioTac
• uSkin
• Paxini
• AIDIA Tiny FT Sensor

• 9DTact
• DTact
• GelSlim 3.0
• GelSlim 4.0
• DIGIT
• FingerVision
• OmniTact
• GelSight_1
• GelSight_2
• GelSight_3
• FingerGelSight
• DigiTac
• TouchRoller
• ReSkin
• Insight

• All the Feels: A dexterous hand with large-area tactile sensing
• Tactile SoftHand-A

• DIGIT_Depth
• DIGIT_Interface
• DIGIT_Simulator
• GelSight-mini_SDK
• GelSight-mini_Interface
• GelSight_Driver
• GelSight_ROS
• GelSight_Conversion
• GelSight_Heightmap
• GelSight_Tracking_1
• GelSight_Tracking_2
• GelSight_Neural_Tracking
• GelSlim_Heightmap
• Gelsight_Controller

• Tactile Optical Simulation
• GelSight_Simulation
• BioTac Simulation
• TACTO
• Taxim
• GelSight-Sim2Real
• DIGIT-Mujoco
• DIGIT-Gazebo
• PyTouch
• PyTact
• Tacchi
• BioTac
• M3L
• AllSight
• Taccel

• Visual-Tactile_Dataset
• YCB-Sight
• DenseTact
• Touch and Go
• ObjectFolder
• ObjectFolder 2.0
• ObjectFolder 3.0
• TVL
• Touch100K

• ShapeMap 3-D
• Tactile SLAM
• pybullet-shape-contact
• PatchGraph
• TANDEM
• Neural Contact Fields (NCF)
• Active Extrinsic Contact Sensing
• MidasTouch
• Tactile-Diffusion
• Tac-Man-Simulation

• MIT - Ted Adelson
• MIT - Alberto Rodriguez - Mcube Lab
• Meta - Mustafa Mukadam - Manipulation and Tactile Sensing Group
• UIUC - Wenzhen Yuan - RoboTouch Lab
• SJTU - Daolin Ma - MPI Lab
• KCL - Shan LUo
• Bristol - Nathan F. Lepora
• TU Dresden - Roberto Calandra - LASR Lab
• Tsinghua - Huazhe Xu
• Tsinghua - Bin Fang
• Tsinghua - Fuchun Sun
• Tsinghua - Wenbo Ding - SSR Group
• Tsinghua - Yao Jiang
• Tsinghua - Rui Chen
• Max Planck Institute - Katherine J. Kuchenbecker
• UMich - Nima Fazeli - Mmint Lab
• Purdue - Yu She - MARS Lab
• Stanford - Monroe Kennedy III - ARMLab
• UVA - Gregory J. Gerling - Gerling Touch Lab
• Oxford - Perla Maiolino - Soft Robotics Lab
• Peking University - Huanbo Sun - Haptic Sensing Lab
• QMUL - Kaspar Althoefer
• KCL - Hongbin Liu - HaMMeR Lab

If you find this repository useful, please cite:

@misc{Awesome_Touch_2022,
  title  = {Awesome-Touch},
  author = {Changyi Lin},
  year   = {2022},
  url    = {https://github.com/linchangyi1/Awesome-Touch},
  note   = {GitHub repository}
}