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STAR: Sparse Tactile Representation Learning in Vision-Tactile-Language-Action Models for Dexterous Manipulation

arXiv · AI, language, vision and robotics · article · Sep 11, 2026 · UTC

Dexterous manipulation requires coordinated multi-finger control and effective tactile feedback, yet learning these capabilities remains challenging due to the lack of large-scale real-world data and the difficulty of extracting effective representations from sparse tactile signals. We build a robot platform and teleoperation system to collect a 200-hour bimanual dexterous manipulation dataset with synchronized visual, tactile, and language annotations, comprising 10,576 trajectories across 65 tasks, 69.5% of which involve dexterous multi-finger manipulation. We further propose STAR, an integr

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