2 papers
cs.RO2026
TacVerse: A Multi-Sensor Dataset and Benchmark for Cross-Sensor Vision-Based Tactile Perception
Lan Wei, Gurmeher Khurana, Sirine Bhouri +6
Vision-based tactile sensors (VBTSs) enable robots to infer contact geometry and force-related cues by imaging deformation through an internal camera, yet generalisation across sen…
cs.CV2025
SARL: Spatially-Aware Self-Supervised Representation Learning for Visuo-Tactile Perception
Gurmeher Khurana, Lan Wei, Dandan Zhang
Contact-rich robotic manipulation requires representations that encode local geometry. Vision provides global context but lacks direct measurements of properties such as texture an…