{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/tactile-augmented-radiance-fields","title":"Tactile-Augmented Radiance Fields","arxiv_id":"2405.04534","date":"2024-05-07","proceeding":"CVPR 2024 1","authors":["Yiming Dou","Fengyu Yang","Yi Liu","Antonio Loquercio","Andrew Owens"],"abstract":"We present a scene representation, which we call a tactile-augmented radiance field (TaRF), that brings vision and touch into a shared 3D space. This representation can be used to estimate the visual and tactile signals for a given 3D position within a scene. We capture a scene's TaRF from a collection of photos and sparsely sampled touch probes. Our approach makes use of two insights: (i) common vision-based touch sensors are built on ordinary cameras and thus can be registered to images using methods from multi-view geometry, and (ii) visually and structurally similar regions of a scene share the same tactile features. We use these insights to register touch signals to a captured visual scene, and to train a conditional diffusion model that, provided with an RGB-D image rendered from a neural radiance field, generates its corresponding tactile signal. To evaluate our approach, we collect a dataset of TaRFs. This dataset contains more touch samples than previous real-world datasets, and it provides spatially aligned visual signals for each captured touch signal. We demonstrate the accuracy of our cross-modal generative model and the utility of the captured visual-tactile data on several downstream tasks. Project page: https://dou-yiming.github.io/TaRF","url_abs":"https://arxiv.org/abs/2405.04534v1","url_pdf":"https://arxiv.org/pdf/2405.04534v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"tactile-augmented-radiance-fields","repo_url":"https://github.com/dou-yiming/tarf","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok"}}],"tasks":[],"methods":[{"method_slug":"diffusion","method_name":"Diffusion"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2405.04534","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2405.04534"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/dou-yiming/tarf","reach":{"status":"ok"}}],"summary":{"ran_draft_wrong":3,"ran_violates":3,"ran":1,"unverified":2},"by_repo_kind":{"official":{"samples":9,"ran":7,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":9,"samples":[{"code_sha256_prefix":"fe5dd5258046898c","entry":"always","repo":"dou-yiming/tarf","repo_kind":"official","path":"img2touch/ldm/modules/x_transformer.py","file_url":"https://github.com/dou-yiming/tarf/blob/HEAD/img2touch/ldm/modules/x_transformer.py","link_basis":"harvester_set","language":"python","status":"ran_draft_wrong","verification_level":1,"contract_check":"OUTPUT_MISDECLARED","metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"fe5dd5258046898c"}},{"code_sha256_prefix":"424012cb37b31172","entry":"default","repo":"dou-yiming/tarf","repo_kind":"official","path":"img2touch/ldm/modules/attention.py","file_url":"https://github.com/dou-yiming/tarf/blob/HEAD/img2touch/ldm/modules/attention.py","link_basis":"harvester_set","language":"python","status":"ran_violates","verification_level":1,"contract_check":"VIOLATES","metamorphic_tier":"well_formed","behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"424012cb37b31172"}},{"code_sha256_prefix":"4cb732f513d69dfd","entry":"disabled_train","repo":"dou-yiming/tarf","repo_kind":"official","path":"img2touch/ldm/models/diffusion/classifier.py","file_url":"https://github.com/dou-yiming/tarf/blob/HEAD/img2touch/ldm/models/diffusion/classifier.py","link_basis":"harvester_set","language":"python","status":"ran_violates","verification_level":1,"contract_check":"VIOLATES","metamorphic_tier":"deterministic","behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"4cb732f513d69dfd"}},{"code_sha256_prefix":"aa5486a3650902d8","entry":"exists","repo":"dou-yiming/tarf","repo_kind":"official","path":"img2touch/ldm/modules/attention.py","file_url":"https://github.com/dou-yiming/tarf/blob/HEAD/img2touch/ldm/modules/attention.py","link_basis":"harvester_set","language":"python","status":"ran_violates","verification_level":1,"contract_check":"VIOLATES","metamorphic_tier":"deterministic","behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"aa5486a3650902d8"}},{"code_sha256_prefix":"d72762b700feee6f","entry":"ismap","repo":"dou-yiming/tarf","repo_kind":"official","path":"img2touch/ldm/util.py","file_url":"https://github.com/dou-yiming/tarf/blob/HEAD/img2touch/ldm/util.py","link_basis":"harvester_set","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"d72762b700feee6f"}},{"code_sha256_prefix":"d48d8354986e3b0e","entry":"uniform_on_device","repo":"dou-yiming/tarf","repo_kind":"official","path":"img2touch/ldm/models/diffusion/ddpm.py","file_url":"https://github.com/dou-yiming/tarf/blob/HEAD/img2touch/ldm/models/diffusion/ddpm.py","link_basis":"harvester_set","language":"python","status":"ran_draft_wrong","verification_level":1,"contract_check":"MISDECLARED","metamorphic_tier":"well_formed","behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"d48d8354986e3b0e"}},{"code_sha256_prefix":"9a299fe5ae09e407","entry":"uniq","repo":"dou-yiming/tarf","repo_kind":"official","path":"img2touch/ldm/modules/attention.py","file_url":"https://github.com/dou-yiming/tarf/blob/HEAD/img2touch/ldm/modules/attention.py","link_basis":"harvester_set","language":"python","status":"ran_draft_wrong","verification_level":1,"contract_check":"MISDECLARED","metamorphic_tier":"deterministic","behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"9a299fe5ae09e407"}},{"code_sha256_prefix":"3713bd5c8ffa77c2","entry":"log_class_as_img","repo":"dou-yiming/tarf","repo_kind":"official","path":"img2touch/ldm/util.py","file_url":"https://github.com/dou-yiming/tarf/blob/HEAD/img2touch/ldm/util.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"3713bd5c8ffa77c2"}},{"code_sha256_prefix":"f9bd2e83191afad1","entry":"log_txt_as_img","repo":"dou-yiming/tarf","repo_kind":"official","path":"img2touch/ldm/util.py","file_url":"https://github.com/dou-yiming/tarf/blob/HEAD/img2touch/ldm/util.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"f9bd2e83191afad1"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}