arxivcs.RO2026-06-28
TacGen: Touch Is a Necessary Dimension of Physical-World Representation -- Addressing Tactile Data Scarcity with Scalable Vision-to-Touch Alignment and Generation
Wanghao Ye, Aarosh Das, Sihan Chen, Yiting Wang, Bowei Tian, Guoheng Sun, et al.
Touch resolves the physical-property ambiguity left by vision: exploratory contact recovers shape, texture, compliance, and material, and visuo-haptic object representations converge in ventral visual cortex. We ask whether representation learning can reproduce this grounding. Ta…