@article{heterogeneoustactiletransformer,
  title = {Heterogeneous Tactile Transformer},
  author = {Jianxin Bi and Qiang Wang and Jayaram Reddy and Kelvin Lin and Soibkhon Khajikhanov and Ruihan Gao and Harold Soh},
  year = {2026},
  eprint = {2606.29948},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.29948},
}