Resistive pressure arrays are the cheapest and most widely shipped tactile sensors, yet tactile representation learning has concentrated on optical sensors that image a deforming gel. We present Tactus, an open model that answers text queries from pressure data alone: on the STAG benchmark (27 objects, held-out recordings), it reaches 0.771 +/- 0.062 top-1 over four runs (top-3 0.935), matching, and at best exceeding, the dataset's supervised closed-set CNN at 0.76, with no trained classifier head. The recipe is small-data: 187 training recordings, masked-autoencoder pretraining on 144k unlabeled same-sensor frames, and the sensor's own calibration affine, which recovered more accuracy than every architecture change combined. The released model's errors concentrate in a few contact-ambiguous classes, are uncorrelated with text-target geometry (Spearman rho <= 0.05 over 702 class pairs), and survive paraphrased and even bare-name queries within one point; two diverse frames recover 89% of eight-frame accuracy. Failures are reported with equal precision: cross-sensor pretraining pooling gave no gain, vision co-training degraded touch, and a mis-normalized input pipeline silently discarded 97% of the sensor's dynamic range while producing plausible intermediate results. Weights, code, and the memory layer the model plugs into are released openly.
Chengzhen Yu, Canran Xiao, Siyuan Ma +1cs.CV cs.AI
Vision-language alignment powers open-vocabulary recognition, retrieval, and LVLM grounding, yet natural captions are often underspecified, making similarity brittle and overly confident under paraphrase and omitted details. We aim to learn representations whose matching is stable across caption views and whose confidence reflects how strongly text constrains an image. We propose Text as Partial Constraint (TPC), a core-residual alignment framework that treats multi-view captions as incomplete supervision. It distills a consensus semantic core as the alignment target, learns a single-view core predictor for standard inference with one query, and explicitly discourages vision-language similarity from depending on the orthogonal unsaid residual. An uncertainty-aware contrastive objective further softens alignment when caption views disagree, reducing overconfident updates under weak language constraints. Across zero-shot recognition and adversarial robustness, TPC achieves 81.42/64.05 Top-1 clean/robust accuracy on ImageNet and 76.19/52.03 on an Avg-14 transfer suite, while improving LVLM transfer with 85.16 POPE F1 and 59.57 OKVQA accuracy under an LLaVA-1.5-7B stack. These results suggest that modeling text as a partial constraint is a practical and principled route to more reliable vision-language representations under underspecified language supervision.