Author

Roberto Calandra

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Preprint Sep 2026

Norm2Tex: Augmenting Visuo-Tactile Simulations with Texture

Norm2Tex is introduced, a plug-in method that augments simulations of vision-based tactile sensors with high-frequency surface details from normal map textures that preserves material-dependent tactile information across domains, improving texture recognition and producing material-dependent control behavior in the rea...

Seongjin Bien, Débora Oliveira Makowski, Roberto Calandra et al. · 0 citations

Touch Improves Learning Dexterous Grasping from Demonstration

Niklas Leukroth, Pankhuri Vanjani, Jakub Suliga et al. · 0 citations

#machine learning Preprint Oct 2026

Temporal Visuo-Tactile Learning for Dexterous Grasp Stability

Results show how rich fingertip sensing and expressive temporal models that capture the dynamics of touch can support learned grasping with multi-fingered hands without explicit contact or force modeling, providing a scalable data-driven path from tactile experience toward stable dexterous manipulation.

Ken Nakahara, Aleksei Buvailik, P. Kotov et al. · 0 citations