# FTP-1: A Generalist Foundation Tactile Policy Across Tactile Sensors

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/c81wvp3k1gmn648d4t0843xb2
- Original: https://arxiv.org/abs/2606.13102

## Summary

The research team proposes FTP-1, a generalist foundation tactile policy pretrained across multiple tactile sensors and embodiments. It uses heterogeneous encoders to map image-, array-, and state-based tactile signals into unified morphology-aware latent tokens, which are jointly modeled by a shared tactile Transformer expert.

## Why it matters

This work unifies multiple tactile signals into a shared policy and reports changes in success rates for cross-sensor transfer, offering a reference for tactile manipulation research.