@article{surformerv1transformerbasedsurfaceclassi,
  title = {Surformer v1: Transformer-Based Surface Classification Using Tactile and Vision Features},
  author = {Manish Kansana and Elias Hossain and Shahram Rahimi and Noorbakhsh Amiri Golilarz},
  year = {2025},
  eprint = {2508.06566},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2508.06566},
}