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BiView-Touch: Learning Bimanual Tactile Representations by Cross-Hand Completion

arXiv · AI, language, vision and robotics · article · Sep 20, 2026 · UTC

Bimanual interaction produces complementary tactile views of the same physical process, yet existing tactile representation learning largely models the two hands independently or combines them only for downstream prediction, leaving their cross-hand relationship unexplored. To exploit this overlooked structure, we introduce BiView-Touch, a tactile-only framework that completes masked target-hand latents from the remaining visible target-hand regions and the synchronized full contralateral hand. A student encoder with a geometry-conditioned directional decoder predicts full-view EMA latent targ

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