FG-CLTP: Fine-Grained Contrastive Language Tactile Pretraining for Robotic Manipulation
Published in IEEE Robotics and Automation Letters, 11(9), 2026, 2026
FG-CLTP aligns fine-grained 3D tactile contact states with language using discretized numerical tokens. It supports sensor-general representations and a tactile-language-action policy for contact-rich manipulation.