Reducing Tactile Sim2Real Domain Gaps via Deep Texture Generation Networks
Tudor Jianu,Daniel Fernandes Gomes,Shan Luo,Tudor Jianu,Daniel Fernandes Gomes,Shan Luo
Recently simulation methods have been developed for optical tactile sensors to enable the Sim2Real learning, i.e., first training models in simulation before deploying them on a real robot. However, some artefacts in real objects are unpredictable, such as imperfections caused by fabrication processes, or scratches by natural wear and tear, and thus cannot be represented in the simulation, resulti...
