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TouchSight: Bare-Handed Tactile Prediction from Egocentric Video via Generative Visual Augmentation

arXiv · Artificial Intelligence · article · Sep 17, 2026 · UTC

Tactile signals provide direct contact and force measurements that are essential for understanding physical interactions and enabling dexterous robotic manipulation. However, tactile sensing requires direct measurement at contact interfaces, making large-scale data collection reliant on intrusive, costly, and restrictive instrumentation. We present TouchSight, a monocular egocentric vision framework for dense full-hand contact force prediction that leverages 500 hours of pressure-glove recordings and extensive hand-object interaction (HOI) data. To address the appearance gap between gloved tra

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