The ability to associate touch with other modalities has huge implications for humans and
computational systems. However multimodal learning with touch remains challenging due to …

Tactile sensors, which provide information about the physical properties of objects, are an
essential component of robotic systems. The visuotactile sensing technology with the merits …

Simulating tactile perception could potentially leverage the learning capabilities of robotic
systems in manipulation tasks. However, the reality gap of simulators for high-resolution …

Simulation is a widely used tool in robotics to reduce hardware consumption and gather
large-scale data. Despite previous efforts to simulate optical tactile sensors, there remain …

Tactile sensors play a crucial role in enabling robots to interact effectively and safely with
objects in everyday tasks. In particular, visuotactile sensors have seen increasing usage in …

Measuring grasp stability is an important skill for dexterous robot manipulation tasks, which
can be inferred from haptic information with a tactile sensor. Control policies have to detect …

Measuring grasp stability is an important skill for dexterous robot manipulation task, which
can be inferred from haptic information with a tactile sensor. Control policies have to detect …

Data collection for tactile-based robotic manipulation plays a crucial role in improving
existing models and enabling general models to perform effectively across various …

Over the past years, several geometries have been proposed for the GelSight high-
resolution tactile sensors. However, existing simulation methods are limited to flat-surface …