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--> [Submitted on 18 Aug 2026] Title:Zero-Shot Transfer of Force Map Estimation Across GelSight Mini Sensors View a PDF of the paper titled Zero-Shot Transfer of Force Map Estimation Across GelSight Mini Sensors, by Julio Casta\~no Amoros and Pablo Gil View PDF Abstract:Despite the rapid industrialization of the touch sensor manufacturing process, most of these sensors are still handmade in research laboratories. This complicates standardizing their performance, requiring the repetition of data collection and training models for each unit produced. To address this problem, this paper presents a method that can generalize the estimation of 3D force maps across different GelSight Mini sensor units, regardless of the sensor version. Specifically, the method consists of two stages: a domain adaptation stage, in which the input tactile image is reconstructed as a general tactile image using a UniT-based model; and a stage for estimating 3D force maps employing a U-Net network. Our proposal achieves promising results in both steps, such as an SSIM of 0.9338 +- 0.0358 in the image reconstruction phase and an MAE_F of 1.1294 +- 1.5934(N) in the force estimation phase. Comments: Accepted for publication in IEEE Sensors Letter Subjects: Computer Vision and Pattern Recognition (cs.CV); Robotics (cs.RO) Cite as: arXiv:2608.18240 [cs.CV] (or arXiv:2608.18240v1 [cs.CV] for this version) https://doi.org/10.48550/arXiv.2608.18240 arXiv-issued DOI via DataCite (pending registration) Submission history From: Julio Castaño-Amorós [view email] [v1] Tue, 18 Aug 2026 18:30:20 UTC (1,733 KB) Full-text links: Access Paper: View a PDF of the paper titled Zero-Shot Transfer of Force Map Estimation Across GelSight Mini Sensors, by Julio Casta\~no Amoros and Pablo Gil View PDF view license Current browse context: cs.CV new | recent | 2026-08 Change to browse by: cs cs.RO References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)