Tacmap bridges the tactile sim-to-real gap by using geometry-consistent volumetric penetration depth maps as a unified representation, enabling zero-shot transfer of simulation-trained policies to physical robots.
Taccel: Accelerating high-fidelity tactile simulation with affine body dynamics and ipc,
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Tacmap: Bridging the Tactile Sim-to-Real Gap via Geometry-Consistent Penetration Depth Map
Tacmap bridges the tactile sim-to-real gap by using geometry-consistent volumetric penetration depth maps as a unified representation, enabling zero-shot transfer of simulation-trained policies to physical robots.