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Robust Slip Detection and Material Classification via Spatiotemporal Transformers on a Uniformly-Illuminated Visuo-Tactile Sensor

arXiv · AI, language, vision and robotics · article · Aug 25, 2026 · UTC

Tactile sensing is central to robotic manipulation, among which slip detection stands out as a quintessential and critical task. However, existing slip datasets are predominantly limited to binary classification, lacking fine-grained directional perception. To address this limitation, we propose a visuo-tactile sensor featuring customized uniform RGB illumination, alongside a unified perception framework. At the hardware level, the sensor achieves high-precision, sub-millimeter depth reconstruction. Based on this capability, we collect a multi-task visuo-tactile dataset encompassing 15 objects

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