[2604.03322] VitaTouch: Property-Aware Vision-Tactile-Language Model for Robotic Quality Inspection in Manufacturing

Computer Science > Computer Vision and Pattern Recognition arXiv:2604.03322 (cs) [Submitted on 2 Apr 2026] Title:VitaTouch: Property-Aware Vision-Tactile-Language Model for Robotic Quality Inspection in Manufacturing Authors:Junyi Zong, Qingxuan Jia, Meixian Shi, Tong Li, Jiayuan Li, Zihang Lv, Gang Chen, Fang Deng View a PDF of the paper titled VitaTouch: Property-Aware Vision-Tactile-Language Model for Robotic Quality Inspection in Manufacturing, by Junyi Zong and 7 other authors View PDF HTML (experimental) Abstract:Quality inspection in smart manufacturing requires identifying intrinsic material and surface properties beyond visible geometry, yet vision-only methods remain vulnerable to occlusion and reflection. We propose VitaTouch, a property-aware vision-tactile-language model for material-property inference and natural-language attribute description. VitaTouch uses modality-specific encoders and a dual Q-Former to extract language-relevant visual and tactile features, which are compressed into prefix tokens for a large language model. We align each modality with text and explicitly couple vision and touch through contrastive learning. We also construct VitaSet, a multimodal dataset with 186 objects, 52k images, and 5.1k human-verified instruction-answer pairs. VitaTouch achieves the best performance on HCT and the overall TVL benchmark, while remaining competitive on SSVTP. On VitaSet, it reaches 88.89% hardness accuracy, 75.13% roughness accuracy, and 54.81% descr...