# LingBot-Touch paper finds masked latent prediction beats MAE and VAE for tactile models

> Original title: If you've followed the JEPA line of work, LingBot-Touch is worth a read: a shared Transformer over tokens from heterogeneous tactile sens...

- Source: Elvis Saravia
- Published: 2026-11-09T23:52:11.000Z
- Bad Influence: https://badinfluence.news/items/uanji5qhwoy1u4wmjm0la34dh
- Original: https://x.com/omarsar0/status/2119941151516209594

## Summary

Per the paper, a shared Transformer over tokens from heterogeneous tactile sensors performs best with masked latent prediction. The model is compared against MAE and VAE objectives trained on the same data. The post reviews this JEPA-style research on LingBot-Touch.

## Post

If you've followed the JEPA line of work, LingBot-Touch is worth a read: a shared Transformer over tokens from heterogeneous tactile sensors, masked latent prediction, and a comparison against MAE and VAE objectives on the same data. Per the paper, latent prediction won.

## Quoted post @robbyant_brain

> What changes when robots can feel—not just see? 🤖✋
> Meet LingBot-Touch, our open-source tactile foundation model towards dexterous manipulation, pretrained on nearly 5,000 hours of real tactile data.
> Through unified heterogeneous tactile modeling, LingBot-Touch supports transfer across sensors, dexterous hands, tasks, and action models.
> Watch it in action. 👇 #LingBot #EmbodiedAI #Robotics

https://x.com/robbyant_brain/status/2119870554056651004