VQ-Touch: A Data-Efficient Tactile Generation Framework Across Sensors and Scenarios
arXiv:2607.14728
The paper presents VQ-Touch, a framework that efficiently generates high‑fidelity tactile images across different sensors and scenarios using a VQ‑GAN based representation and a discrete diffusion decoder, enabling few‑shot and multimodal tactile synthesis.
Abstract
Tactile image generation significantly reduces the dependency on expensive and wear-prone sensors by synthesizing high-fidelity tactile data, offering an efficient solution for tactile information acquisition in robotic perception and human-machine interaction systems. However, existing methods depend on large-scale, diverse datasets from specific sensors and lack efficient data utilization and robust generalization capabilities, struggling in vision-limited environments. To address this, we introduce VQ-Touch, a tactile generation framework that supports both cross-sensor and multi-scenario applications. Specifically, to efficiently extract complex deformation and texture features from the data, we propose DM-VQGAN, an effective tactile representation learner. Furthermore, we introduce a discrete diffusion decoder with a unified conditioning interface, supporting multimodal generation tasks such as images and labels, and enhances the model's generalization capability through few-shot mixed training, thus achieving compatibility with current mainstream sensors and their variants. Experiments show that VQ-Touch surpasses state-of-the-art methods in multiple tasks.
6 pages, 5 figures