Learned touch tokens add 14–25 points over raw signals across four policies
kimmonismus · x · 2026-11-11
Part 2: feeding policies raw touch signals gave at most about half the gain of learned touch tokens. Across Diffusion Policy, π0.5, LingBot-VLA and T-Rex, learned touch tokens added 14–25 percentage points, and the setup was best in 89 of 104 task-policy pairs per the paper.
Related event: Ant's Robbyant Open-Sources LingBot-Touch Tactile Foundation Model(30 posts)→
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