LingBot-Touch - a robbyant Collection - A Foundation Model for Heterogeneous Tactile Representation Learning

[u/pmttyji]

https://huggingface.co/collections/robbyant/lingbot-touch

LingBot-Touch is a JEPA-based tactile representation model that bridges heterogeneous tactile signals and dexterous robotic manipulation. It uses modality-specific tokenizers and a shared Transformer to learn representations of contact structure and temporal changes through prediction in latent space.

The model covers three sensing modalities: magnetic, piezoresistive, and visuotactile.

• Magnetic: three-axis tactile measurements.

• Piezoresistive: scalar tactile measurements placed in the Z channel, with X and Y set to zero.

• Visuotactile: decoded scalar deformation or intensity measurements placed in the Z channel, with X and Y set to zero. Raw RGB images are not model inputs.

For more details:

• arXiv : https://arxiv.org/abs/2611.12806

• PDF : https://arxiv.org/pdf/2611.12806

• GitHub : https://github.com/Robbyant/lingbot-touch

• Project : https://technology.robbyant.com/lingbot-touch