TouchAnything: Diffusion-Guided 3D Reconstruction from Sparse Robot Touches

ArXi:2604.08945v1 Announce Type: new Accurate object geometry estimation is essential for many downstream tasks, including robotic manipulation and physical interaction. Although vision is the dominant modality for shape perception, it becomes unreliable under occlusions or challenging lighting conditions. In such scenarios, tactile sensing provides direct geometric information through physical contact. However, reconstructing global 3D geometry from sparse local touches alone is fundamentally underconstrained.