  The rapidly evolving field of robotics necessitates methods that can
facilitate the fusion of multiple modalities. Specifically, when it comes to
interacting with tangible objects, effectively combining visual and tactile
sensory data is key to understanding and navigating the complex dynamics of the
physical world, enabling a more nuanced and adaptable response to changing
environments. Nevertheless, much of the earlier work in merging these two
sensory modalities has relied on supervised methods utilizing datasets labeled
by humans.This paper introduces MViTac, a novel methodology that leverages
contrastive learning to integrate vision and touch sensations in a
self-supervised fashion. By availing both sensory inputs, MViTac leverages
intra and inter-modality losses for learning representations, resulting in
enhanced material property classification and more adept grasping prediction.
Through a series of experiments, we showcase the effectiveness of our method
and its superiority over existing state-of-the-art self-supervised and
supervised techniques. In evaluating our methodology, we focus on two distinct
tasks: material classification and grasping success prediction. Our results
indicate that MViTac facilitates the development of improved modality encoders,
yielding more robust representations as evidenced by linear probing
assessments.
