Corpus ID: 235446422

Optical Tactile Sim-to-Real Policy Transfer via Real-to-Sim Tactile Image Translation

@article{Church2021OpticalTS,
  title={Optical Tactile Sim-to-Real Policy Transfer via Real-to-Sim Tactile Image Translation},
  author={Alex Church and J. Lloyd and R. Hadsell and N. Lepora},
  journal={ArXiv},
  year={2021},
  volume={abs/2106.08796}
}
Simulation has recently become key for deep reinforcement learning to safely and efficiently acquire general and complex control policies from visual and proprioceptive inputs. Tactile information is not usually considered despite its direct relation to environment interaction. In this work, we present a suite of simulated environments tailored towards tactile robotics and reinforcement learning. A simple and fast method of simulating optical tactile sensors is provided, where high-resolution… Expand
2 Citations
Taxim: An Example-based Simulation Model for GelSight Tactile Sensors
  • Zilin Si, Wenzhen Yuan
  • Computer Science
  • ArXiv
  • 2021
Simulation is widely used in robotics for system verification and large-scale data collection. However, simulating sensors, including tactile sensors, has been a long-standing challenge. In thisExpand
Soft Biomimetic Optical Tactile Sensing with the TacTip: A Review
TLDR
This article reviews the BRL TacTip as a prototypical example of a SoftBOT (Soft Biomimetic Optical Tactile) sensor and discusses the relation between artificial skin morphology and the transduction principles of human touch. Expand

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