Tactile sensing is one of the modalities humans rely on heavily to perceive the world. Working with vision, this modality refines local geometry structure, measures deformation at the contact area, and indicates the hand-object contact state.
We present VTacO for in-hand object reconstruction, and VTacOH for hand-object reconstruction. For generating simulated dataset, we propose VT-Sim, a simulation environment for hand-object interaction. Our model has prooved effective in both simulation and real-world experiments.

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