TACTO: A Fast, Flexible, and Open-source Simulator for High-Resolution Vision-based Tactile Sensors

15 December 2020

Papers citing "TACTO: A Fast, Flexible, and Open-source Simulator for High-Resolution Vision-based Tactile Sensors"

50 / 82 papers shown

Title
CLTP: Contrastive Language-Tactile Pre-training for 3D Contact Geometry Understanding Wenxuan Ma Xiaoge Cao Y. Zhang Chaofan Zhang Shaobo Yang Peng Hao Bin Fang Yinghao Cai Shaowei Cui Shuo Wang 33 0 0 13 May 2025
Zero-shot Sim2Real Transfer for Magnet-Based Tactile Sensor on Insertion Tasks Beining Han Abhishek Joshi Jia Deng 34 0 0 05 May 2025
Grasping Deformable Objects via Reinforcement Learning with Cross-Modal Attention to Visuo-Tactile Inputs Yonghyun Lee Sungeun Hong Min-gu Kim Gyeonghwan Kim Changjoo Nam 24 0 0 22 Apr 2025
ViTa-Zero: Zero-shot Visuotactile Object 6D Pose Estimation Hongyu Li James Akl Srinath Sridhar Tye Brady Taskin Padir 39 0 0 17 Apr 2025
Taccel: Scaling Up Vision-based Tactile Robotics via High-performance GPU Simulation Y. Li Wenxin Du Chang Yu Puhao Li Zihang Zhao Tengyu Liu Chenfanfu Jiang Y. Zhu Siyuan Huang 34 0 0 17 Apr 2025
Learning to Play Piano in the Real World Yves-Simon Zeulner Sandeep Selvaraj Roberto Calandra 49 0 0 19 Mar 2025
Tacchi 2.0: A Low Computational Cost and Comprehensive Dynamic Contact Simulator for Vision-based Tactile Sensors Yuhao Sun Shixin Zhang Wenzhuang Li J. Zhao Jianhua Shan Zirong Shen Zixi Chen F. Sun Di Guo Bin Fang 56 0 0 12 Mar 2025
ACROSS: A Deformation-Based Cross-Modal Representation for Robotic Tactile Perception W. Z. E. Amri Malte Kuhlmann Nicolás Navarro-Guerrero 54 1 0 20 Feb 2025
AnyTouch: Learning Unified Static-Dynamic Representation across Multiple Visuo-tactile Sensors Ruoxuan Feng Jiangyu Hu Wenke Xia Tianci Gao Ao Shen Yuhao Sun Bin Fang Di Hu 47 5 0 15 Feb 2025
HydroelasticTouch: Simulation of Tactile Sensors with Hydroelastic Contact Surfaces David P. Leins Florian Patzelt R. Haschke 61 0 0 14 Jan 2025
VinT-6D: A Large-Scale Object-in-hand Dataset from Vision, Touch and Proprioception Zhaoliang Wan Yonggen Ling Senlin Yi Lu Qi Wangwei Lee ... Xiao Teng Peng Lu Xu Yang Ming Yang Hui Cheng 45 4 0 31 Dec 2024
TacEx: GelSight Tactile Simulation in Isaac Sim -- Combining Soft-Body and Visuotactile Simulators Duc Huy Nguyen Tim Schneider Guillaume Duret Alap Kshirsagar Boris Belousov Jan Peters 35 1 0 07 Nov 2024
Sparsh: Self-supervised touch representations for vision-based tactile sensing Carolina Higuera Akash Sharma Chaithanya Krishna Bodduluri Taosha Fan Patrick E. Lancaster ... Michael Kaess Byron Boots Mike Lambeta Tingfan Wu Mustafa Mukadam 39 11 0 31 Oct 2024
Fine Manipulation Using a Tactile Skin: Learning in Simulation and Sim-to-Real Transfer Ulf Kasolowsky Berthold Bäuml 36 0 0 19 Sep 2024
TacSL: A Library for Visuotactile Sensor Simulation and Learning Iretiayo Akinola Jie Xu Jan Carius Dieter Fox Yashraj S. Narang 41 6 0 12 Aug 2024
Learning Stable Robot Grasping with Transformer-based Tactile Control Policies En Yen Puang Zechen Li Chee Meng Chew Shan Luo Yan Wu 34 1 0 30 Jul 2024
Learning In-Hand Translation Using Tactile Skin With Shear and Normal Force Sensing Jessica Yin Haozhi Qi Jitendra Malik James H. Pikul Mark H. Yim Tess Hellebrekers 39 4 0 10 Jul 2024
Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AI Y. Liu Weixing Chen Yongjie Bai Xiaodan Liang Guanbin Li Wen Gao Liang Lin LM&Ro SyDa AI4CE 51 50 0 09 Jul 2024
When Vision Meets Touch: A Contemporary Review for Visuotactile Sensors from the Signal Processing Perspective Shoujie Li Zihan Wang Changsheng Wu Xiang Li Shan Luo Bin Fang Fuchun Sun Xiao-Ping Zhang Wenbo Ding AI4TS 30 11 0 18 Jun 2024
AnyRotate: Gravity-Invariant In-Hand Object Rotation with Sim-to-Real Touch Max Yang Chenghua Lu Alex Church Yijiong Lin Christopher J. Ford Haoran Li Efi Psomopoulou David A.W. Barton Nathan Lepora 57 14 0 12 May 2024
Simulation of Optical Tactile Sensors Supporting Slip and Rotation using Path Tracing and IMPM Zirong Shen Yuhao Sun Shixin Zhang Zixi Chen Heyi Sun Fuchun Sun Bin Fang 25 2 0 05 May 2024
FOTS: A Fast Optical Tactile Simulator for Sim2Real Learning of Tactile-motor Robot Manipulation Skills Yongqiang Zhao Kun Qian Boyi Duan Shan Luo 29 7 0 30 Apr 2024
Optimizing BioTac Simulation for Realistic Tactile Perception W. Z. E. Amri Nicolás Navarro 30 2 0 16 Apr 2024
PseudoTouch: Efficiently Imaging the Surface Feel of Objects for Robotic Manipulation Adrian Rofer Nick Heppert Abdallah Ayman Eugenio Chisari Abhinav Valada 29 1 0 22 Mar 2024
Sim2Real Manipulation on Unknown Objects with Tactile-based Reinforcement Learning Entong Su Chengzhe Jia Yuzhe Qin Wenxuan Zhou Annabella Macaluso Binghao Huang Xiaolong Wang 40 4 0 18 Mar 2024
DIFFTACTILE: A Physics-based Differentiable Tactile Simulator for Contact-rich Robotic Manipulation Zilin Si Gu Zhang Qingwei Ben Branden Romero Zhou Xian Chao Liu Chuang Gan 33 17 0 13 Mar 2024
Scalable, Simulation-Guided Compliant Tactile Finger Design Yuxiang Ma Arpit Agarwal Sandra Q. Liu Wenzhen Yuan Edward H. Adelson 24 2 0 07 Mar 2024
Tac-Man: Tactile-Informed Prior-Free Manipulation of Articulated Objects Zihang Zhao Yuyang Li Wanlin Li Zhenghao Qi Lecheng Ruan Yixin Zhu K. Althoefer 36 8 0 04 Mar 2024
Binding Touch to Everything: Learning Unified Multimodal Tactile Representations Fengyu Yang Chao Feng Ziyang Chen Hyoungseob Park Daniel Wang ... Ziyao Zeng Xien Chen Rit Gangopadhyay Andrew Owens Alex Wong 38 55 0 31 Jan 2024
Multimodal Visual-Tactile Representation Learning through Self-Supervised Contrastive Pre-Training Vedant Dave Fotios Lygerakis Elmar Rueckert SSL 25 17 0 22 Jan 2024
MultiPLY: A Multisensory Object-Centric Embodied Large Language Model in 3D World Yining Hong Zishuo Zheng Peihao Chen Yian Wang Junyan Li Chuang Gan 21 32 0 16 Jan 2024
Neural feels with neural fields: Visuo-tactile perception for in-hand manipulation Sudharshan Suresh Haozhi Qi Tingfan Wu Taosha Fan Luis Villaseñor-Pineda ... Mrinal Kalakrishnan Roberto Calandra Michael Kaess Joseph Ortiz Mustafa Mukadam 29 29 0 20 Dec 2023
TouchSDF: A DeepSDF Approach for 3D Shape Reconstruction using Vision-Based Tactile Sensing Mauro Comi Yijiong Lin Alex Church Alessio Tonioni Laurence Aitchison Nathan Lepora 35 16 0 21 Nov 2023
Tactile Active Inference Reinforcement Learning for Efficient Robotic Manipulation Skill Acquisition Zihao Liu Xing Liu Yizhai Zhang Zhengxiong Liu Panfeng Huang 21 1 0 19 Nov 2023
TacIPC: Intersection- and Inversion-free FEM-based Elastomer Simulation For Optical Tactile Sensors Wenxin Du Wenqiang Xu Jieji Ren Zhenjun Yu Cewu Lu 15 9 0 10 Nov 2023
Sim2Real Bilevel Adaptation for Object Surface Classification using Vision-Based Tactile Sensors G. Caddeo Andrea Maracani P. D. Alfano Nicola A. Piga Lorenzo Rosasco Lorenzo Natale DiffM 17 4 0 02 Nov 2023
AcTExplore: Active Tactile Exploration of Unknown Objects A. Shahidzadeh Seong Jong Yoo P. Mantripragada Chahat Deep Singh Cornelia Fermuller Yiannis Aloimonos 27 8 0 12 Oct 2023
Perceiving Extrinsic Contacts from Touch Improves Learning Insertion Policies Carolina Higuera Joseph Ortiz Haozhi Qi Luis Villaseñor-Pineda Byron Boots Mustafa Mukadam 41 3 0 28 Sep 2023
Augmenting Tactile Simulators with Real-like and Zero-Shot Capabilities Osher Azulay Alon Mizrahi Nimrod Curtis A. Sintov GAN 27 1 0 19 Sep 2023
ReProHRL: Towards Multi-Goal Navigation in the Real World using Hierarchical Agents Tejaswini Manjunath Mozhgan Navardi P. Dixit Bharat Prakash T. Mohsenin 13 7 0 17 Aug 2023
Grasp Stability Assessment Through Attention-Guided Cross-Modality Fusion and Transfer Learning Zhuangzhuang Zhang Zhenning Zhou Haili Wang Zhinan Zhang Huang Huang Q. Cao 21 7 0 02 Aug 2023
Sliding Touch-based Exploration for Modeling Unknown Object Shape with Multi-fingered Hands Yiting Chen Ahmet E. Tekden M. Deisenroth Yasemin Bekiroglu 13 10 0 01 Aug 2023
Sim-to-Real Model-Based and Model-Free Deep Reinforcement Learning for Tactile Pushing Max Yang Yijiong Lin Alex Church John Lloyd Dandan Zhang David A.W. Barton Nathan Lepora OffRL 28 11 0 26 Jul 2023
AllSight: A Low-Cost and High-Resolution Round Tactile Sensor with Zero-Shot Learning Capability Osher Azulay Nimrod Curtis R. Sokolovsky Guy Levitski Daniel Slomovik Guy Lilling A. Sintov 22 17 0 06 Jul 2023
The ObjectFolder Benchmark: Multisensory Learning with Neural and Real Objects Ruohan Gao Yiming Dou Hao Li Tanmay Agarwal Jeannette Bohg Yunzhu Li Li Fei-Fei Jiajun Wu 16 29 0 01 Jun 2023
IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality Bingjie Tang Michael A. Lin Iretiayo Akinola Ankur Handa Gaurav Sukhatme Fabio Ramos D. Fox Yashraj S. Narang OffRL 25 44 0 26 May 2023
Beyond Flat GelSight Sensors: Simulation of Optical Tactile Sensors of Complex Morphologies for Sim2Real Learning D. F. Gomes Paolo Paoletti Shan Luo 14 12 0 21 May 2023
Crossing the Reality Gap in Tactile-Based Learning Ya-Yen Tsai Bidan Huang Yu Zheng Lei Han Wang Wei Lee Edward Johns 19 0 0 17 May 2023
Dexterous In-Hand Manipulation of Slender Cylindrical Objects through Deep Reinforcement Learning with Tactile Sensing Wenbin Hu Bidan Huang Wang Wei Lee Sibei Yang Yu Zheng Zhibin Li 8 9 0 11 Apr 2023
Learning to Read Braille: Bridging the Tactile Reality Gap with Diffusion Models Carolina Higuera Byron Boots Mustafa Mukadam DiffM 33 26 0 03 Apr 2023