FTP-1: First General-Purpose Foundation Tactile Policy Boosts Robotic Manipulation Across Sensors
jiqizhixin · x · 2026-07-07
Teams from Tsinghua, UC Berkeley, ETH Zurich etc. propose FTP-1, the first general-purpose foundation tactile policy. It uses a single transformer expert to fuse heterogeneous tactile sensor inputs (images, arrays, states, etc.) into a unified "tactile language." Trained on 21 sensors and 3000 hours of data, it improves contact-rich manipulation on familiar sensors by 17.2% and achieves zero-shot 31% improvement on unseen new sensors.
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