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FlowTouch: A View-Invariant Visuo-Tactile Prediction Model

FlowTouch is a view-invariant visuo-tactile prediction model that uses an object's local 3D mesh to encode information for predicting tactile patterns, enabling tactile feedback even before the object is touched. The method combines scene reconstruction with a Flow Matching-based image generation model. Results show that it narrows the sim-to-real gap and generalizes to new sensor instances, and the generated tactile images can also be used for downstream grasp stability prediction. Code, dataset, and videos are publicly available.

Part of the event: FlowTouch: A Viewpoint-Independent Visuotactile Prediction Model

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