Augmenting Tactile Simulators with Real-like and Zero-Shot Capabilities
Osher Azulay,Alon Mizrahi,Nimrod Curtis,Avishai Sintov,Osher Azulay,Alon Mizrahi,Nimrod Curtis,Avishai Sintov
Simulating tactile perception could potentially leverage the learning capabilities of robotic systems in manipulation tasks. However, the reality gap of simulators for high-resolution tactile sensors remains large. Models trained on simulated data often fail in zero-shot inference and require fine-tuning with real data. In addition, work on high-resolution sensors commonly focus on ones with flat ...
