Unsupervised adversarial domain adaptation for sim-to-real transfer of tactile images
Transferring optical tactile skills learned from simulated environments to the real world
benefits many robotic tactile applications, which can reduce the cost of data collection …
benefits many robotic tactile applications, which can reduce the cost of data collection …
Incipient slip-based rotation measurement via visuotactile sensing during in-hand object pivoting
M Li, YH Zhou, T Li, Y Jiang - 2024 IEEE International …, 2024 - ieeexplore.ieee.org
In typical in-hand manipulation tasks represented by object pivoting, the real-time perception
of rotational slippage has been proven beneficial for improving the dexterity and stability of …
of rotational slippage has been proven beneficial for improving the dexterity and stability of …
Beyond flat gelsight sensors: Simulation of optical tactile sensors of complex morphologies for sim2real learning
Recently, several morphologies, each with its advantages, have been proposed for the\textit
{GelSight} high-resolution tactile sensors. However, existing simulation methods are limited …
{GelSight} high-resolution tactile sensors. However, existing simulation methods are limited …
Transformer in Touch: A Survey
The Transformer model, initially achieving significant success in the field of natural language
processing, has recently shown great potential in the application of tactile perception. This …
processing, has recently shown great potential in the application of tactile perception. This …
MT-RSL: A multitasking-oriented robot skill learning framework based on continuous dynamic movement primitives for improving efficiency and quality in robot-based …
Robot skill learning is one of the international advanced directions in the field of robot-based
intelligent manufacturing, which makes it possible for robots to learn and operate …
intelligent manufacturing, which makes it possible for robots to learn and operate …
An Electromagnetism-Inspired Method for Estimating In-Grasp Torque from Visuotactile Sensors
Y Fuchioka, M Hamaya - arXiv preprint arXiv:2404.15626, 2024 - arxiv.org
Tactile sensing has become a popular sensing modality for robot manipulators, due to the
promise of providing robots with the ability to measure the rich contact information that gets …
promise of providing robots with the ability to measure the rich contact information that gets …
General-Purpose Sim2Real Protocol for Learning Contact-Rich Manipulation With Marker-Based Visuotactile Sensors
Visuotactile sensors can provide rich contact information, having great potential in contact-
rich manipulation tasks with reinforcement learning (RL) policies. Sim2Real technique …
rich manipulation tasks with reinforcement learning (RL) policies. Sim2Real technique …
[HTML][HTML] Multimodal zero-shot learning for tactile texture recognition
Tactile sensing plays an irreplaceable role in robotic material recognition. It enables robots
to distinguish material properties such as their local geometry and textures, especially for …
to distinguish material properties such as their local geometry and textures, especially for …
Augmenting tactile simulators with real-like and zero-shot capabilities
O Azulay, A Mizrahi, N Curtis… - 2024 IEEE International …, 2024 - ieeexplore.ieee.org
Simulating tactile perception could potentially leverage the learning capabilities of robotic
systems in manipulation tasks. However, the reality gap of simulators for high-resolution …
systems in manipulation tasks. However, the reality gap of simulators for high-resolution …
Addressing data imbalance in Sim2Real: ImbalSim2Real scheme and its application in finger joint stiffness self-sensing for soft robot-assisted rehabilitation
The simulation-to-reality (sim2real) problem is a common issue when deploying simulation-
trained models to real-world scenarios, especially given the extremely high imbalance …
trained models to real-world scenarios, especially given the extremely high imbalance …