# MiTaS multi-resolution tactile imitation learning framework for contact-rich manipulation tasks

- Source: arXiv cs.RO
- Published: 2026-10-22T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/jgxnhhcmh1qynui2oyk12k0gn
- Original: https://arxiv.org/abs/2606.06281

## Summary

MiTaS is a multi-resolution tactile representation framework that uses modality-specific convolutional stems and a Transformer-based fusion structure to integrate information from an RGB camera, a GelSight Mini vision-based tactile sensor, and a high-frequency event-based Evetac sensor, then conditions a flow-matching policy to perform downstream tasks.