HaptoFlow

HaptoFlow is a Flow Matching vibrotactile generative model for interactive, real-time haptic rendering in VR. Conditioned on a material label and interaction parameters (stroking velocity and applied force), it generates 0.1 s waveform segments autoregressively, each conditioned on the previous one, so the vibration follows the user's motion. In the paper it outperforms all baselines in both waveform reproduction accuracy and inference latency, and its system latency stays well within the perceptual threshold of visual-haptic delay.

Paper | Project page | Code

Checkpoints

subfolder	target signal
haptoflow_accel	contact acceleration
haptoflow_audio	contact sound

For details of the signals, see the Cluster Haptic Texture Dataset.

Citation

@misc{eguchi2026haptoflowhighfidelityrealtimevibrotactile,
      title={HaptoFlow: High-Fidelity Real-Time Vibrotactile Generation via Flow Matching for Virtual Reality},
      author={Michikuni Eguchi and Yuichi Hiroi and Takefumi Hiraki},
      year={2026},
      eprint={2608.01974},
      archivePrefix={arXiv},
      primaryClass={cs.HC},
      url={https://arxiv.org/abs/2608.01974},
}