Human-Centric Transferable Tactile Pre-Training for Dexterous Robotic Manipulation

As an essential modality for dexterous and contact-rich tasks, tactile sensing provides precise force feedback that cannot be reliably inferred from vision.

As an essential modality for dexterous and contact-rich tasks, tactile sensing provides precise force feedback that cannot be reliably inferred from vision. However, limited by hardware and data collection systems, existing datasets with tactility remain small in scale and…