Grasp Stability Prediction with Sim-to-Real Transfer from Tactile Sensing

Zilin Si,Zirui Zhu,Arpit Agarwal,Stuart Anderson,Wenzhen Yuan,Zilin Si,Zirui Zhu,Arpit Agarwal,Stuart Anderson,Wenzhen Yuan

Robot simulation has been an essential tool for data-driven manipulation tasks. However, most existing simulation frameworks lack either efficient and accurate models of physical interactions with tactile sensors or realistic tactile simulation. This makes the sim-to-real transfer for tactile-based manipulation tasks still challenging. In this work, we integrate simulation of robot dynamics and vi...