ControlTac: Scaling Tactile Data with Physically Controlled Tactile Image Generation

ControlTac is a two‑stage framework that generates realistic tactile images conditioned on a single reference image, contact force, and contact pose. By incorporating these physical priors, it produces realistic samples across different sensors and captures task‑relevant variations. Experiments in object insertion, imitation learning, and object weighting show that datasets augmented with ControlTac consistently improve performance in dynamic real‑world settings.

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• diffusion
• robotics