Tactile Genesis provides a scalable multi-type tactile simulator and ablation results showing whole-hand coverage with per-taxel force/torque sensing outperforms fingertip-only or other modalities across three dexterous tasks.
Tacmap: Bridging the Tactile Sim-to-Real Gap via Geometry-Consistent Penetration Depth Map
3 Pith papers cite this work. Polarity classification is still indexing.
3
Pith papers citing it
abstract
Vision-Based Tactile Sensors (VBTS) are essential for achieving dexterous robotic manipulation, yet the tactile sim-to-real gap remains a fundamental bottleneck. Current tactile simulations suffer from a persistent dilemma: simplified geometric projections lack physical authenticity, while high-fidelity Finite Element Methods (FEM) are too computationally prohibitive for large-scale reinforcement learning. In this work, we present Tacmap, a high-fidelity, computationally efficient tactile simulation framework anchored in volumetric penetration depth. Our key insight is to bridge the tactile sim-to-real gap by unifying both domains through a shared deform map representation. Specifically, we compute 3D intersection volumes as depth maps in simulation, while in the real world, we employ an automated data-collection rig to learn a robust mapping from raw tactile images to ground-truth depth maps. By aligning simulation and real-world in this unified geometric space, Tacmap minimizes domain shift while maintaining physical consistency. Quantitative evaluations across diverse contact scenarios demonstrate that Tacmap's deform maps closely mirror real-world measurements. Moreover, we validate the utility of Tacmap through an in-hand rotation task, where a policy trained exclusively in simulation achieves zero-shot transfer to a physical robot.
fields
cs.RO 3years
2026 3verdicts
UNVERDICTED 3representative citing papers
CoP tactile representation with differentiable calibration enables zero-shot sim-to-real transfer and outperforms binary and raw-taxel baselines on peg-in-hole insertion and ball balancing with a multi-fingered hand.
MagicSim is a unified embodied interaction infrastructure built on a deterministic batched runtime and shared MDP that supports diverse world construction, execution, task evaluation, automatic rollout generation, and interactive agent interfaces.
citing papers explorer
-
Tactile Genesis: Exploring Tactile Sensors at Scale for Learning Dexterous Tasks
Tactile Genesis provides a scalable multi-type tactile simulator and ablation results showing whole-hand coverage with per-taxel force/torque sensing outperforms fingertip-only or other modalities across three dexterous tasks.
-
Beyond Binary: Sim-to-Real Dexterous Manipulation with Physics-Grounded Contact Representation
CoP tactile representation with differentiable calibration enables zero-shot sim-to-real transfer and outperforms binary and raw-taxel baselines on peg-in-hole insertion and ball balancing with a multi-fingered hand.
-
MagicSim: A Unified Infrastructure for Executable Embodied Interaction
MagicSim is a unified embodied interaction infrastructure built on a deterministic batched runtime and shared MDP that supports diverse world construction, execution, task evaluation, automatic rollout generation, and interactive agent interfaces.