Seeing Touch from Motion: A Unified Modality-Aware Visuo-Tactile Policy with Tactile Motion Correlation

Shengqi Xu, Guojin Zhong, Yang Liu, Fanjie Wang, Hu Luo, Hanyu Zhou, Weiyao Zhang, Ziyi Ye, Zuxuan Wu, Yu-Gang Jiang

Visuo-Tactile policies leveraging optical tactile sensors have shown great promise in contact-rich manipulation. These sensors achieve high spatial resolution and multi-dimensional force sensing by utilizing an internal camera to monitor the deformation of their elastic gel surface, thereby indirectly inferring tactile cues. Despite their advantages, extracting fine-grained contact states necessary for contact-rich manipulation remains an open challenge. Existing methods typically use either raw images or cumulative motion fields to represent tactile cues. However, both are prone to perception ambiguity. Raw tactile images mainly capture appearance changes, while cumulative motion fields only reflect the aggregate gel deformation. Consequently, distinct fine-grained contact states can exhibit highly similar patterns, making it difficult to explicitly distinguish subtle contact variations. To address this issue, we explore the dynamic priors of tactile motion and discover that the correlation between transient and cumulative motion can explicitly distinguish fine-grained contact states. Based on this insight, we propose a motion-aware tactile representation to facilitate contact-rich manipulation. Beyond tactile representation, effective fusion of tactile and visual modalities is also critical. Most existing fusion methods either directly concatenate features from each modality or train modality-specific networks separately and fuse their outputs. However, these strategies struggle to simultaneously model cross-modal interactions and preserve modality-specific characteristics. In this work, we take advantage of the Mixture-of-Transformers architecture and propose a unified modality-aware visuo-tactile policy that captures cross-modal complementarity while maintaining modality-specific properties.