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Tactile-JEPA: Topology-Aware Self-Supervised Representation Learning for Distributed Tactile Sensors

arXiv · AI, language, vision and robotics · article · Sep 21, 2026 · UTC

Tactile sensing is an essential modality for robots performing contact-rich, dexterous manipulation, particularly under visual occlusion. While pre-trained image encoders are standard in robot learning pipelines, tactile encoders are still commonly trained from scratch from raw, noisy signals, which might limit their expressivity. Existing self-supervised learning (SSL) approaches focus predominantly on vision-based tactile sensors, leaving distributed electronic skins largely unaddressed. These sensors, however, have a distinctive property: their sensing elements are sparse and irregularly ar

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