PERCEPTION
UniTac：面向跨传感器触觉理解与生成的统一多模态模型
Jiahang Tu, Fengyu Yang, Chenyang Ma, Xihang Yu, Ziyao Zeng, Shaokai Wu, Hanbin Zhao, Zhi Tao, Chao Zhang, Hui Qian, Alex Wong
- 发表年份
- 2026
- 访问权限
- 开放获取
摘要
UniTac是首个将统一多模态模型范式扩展到触觉领域的工作，通过双层次表征编码传感器和物体属性，实现了跨传感器的触觉理解与生成。该模型在触觉理解任务上达到最优性能，并能生成逼真的跨传感器触觉信号。
关键词
tactile sensingunified multimodal modelcross-sensortactile generationtactile understanding
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