@article{howtotrainyourtactilemodeltactilepercept,
  title = {How to Train your Tactile Model: Tactile Perception with Multi-fingered Robot Hands},
  author = {Christopher J. Ford and Kaichen Shi and Laura Butcher and Nathan F. Lepora and Efi Psomopoulou},
  year = {2026},
  eprint = {2604.00744},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.00744},
}