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

IEEE Robotics and Automation Letters (RA-L), 2020

15 December 2020

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

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Title
ShapeForce: Low-Cost Soft Robotic Wrist for Contact-Rich Manipulation Jinxuan Zhu Zihao Yan Yangyu Xiao Jingxiang Guo Chenrui Tie Xinyi Cao Yuhang Zheng Lin Shao 64 0 0 25 Nov 2025
3D Cal: An Open-Source Software Library for Calibrating Tactile Sensors Rohan Kota Kaival Shah J. Edward Colgate Gregory Reardon 131 0 0 04 Nov 2025
Spatially anchored Tactile Awareness for Robust Dexterous Manipulation Jialei Huang Yang Ye Yuanqing Gong Xuezhou Zhu Yang Gao Kaifeng Zhang 96 0 0 16 Oct 2025
In-Hand Manipulation of Articulated Tools with Dexterous Robot Hands with Sim-to-Real Transfer Soofiyan Atar Daniel Huang Florian Richter Michael C. Yip 111 0 0 27 Sep 2025
Robot Control Stack: A Lean Ecosystem for Robot Learning at Scale Tobias Jülg Pierre Krack Seongjin Bien Yannik Blei Khaled Gamal Ken Nakahara Johannes Hechtl Roberto Calandra Wolfram Burgard Florian Walter 51 0 0 18 Sep 2025
Tactile Robotics: An OutlookIEEE Transactions on robotics (IEEE TRO), 2025 Shan Luo Nathan Lepora Wenzhen Yuan K. Althoefer Gordon Cheng R. Dahiya 90 6 0 15 Aug 2025
High-Speed Event Vision-Based Tactile Roller Sensor for Large Surface Measurements Akram Khairi Hussain Sajwani Abdallah Mohammad Alkilany Laith AbuAssi Mohamad Halwani Islam Mohamed Zaid Ahmed Awadalla Dewald Swart Abdulla Ayyad Yahya Zweiri 85 1 0 26 Jul 2025
Touch in the Wild: Learning Fine-Grained Manipulation with a Portable Visuo-Tactile Gripper Xinyue Zhu Binghao Huang Yunzhu Li 121 8 0 20 Jul 2025
A Survey on Imitation Learning for Contact-Rich Tasks in Robotics T. Tsuji Y. Kato Gokhan Solak Heng Zhang Tadej Petrič Francesco Nori Arash Ajoudani 196 7 0 16 Jun 2025
ViTaSCOPE: Visuo-tactile Implicit Representation for In-hand Pose and Extrinsic Contact EstimationRobotics (RAS), 2025 Jayjun Lee Nima Fazeli 126 1 0 13 Jun 2025
Tactile MNIST: Benchmarking Active Tactile Perception Tim Schneider Guillaume Duret Cristiana de Farias Roberto Calandra Liming Chen Jan Peters 205 2 0 03 Jun 2025
RETRO: REthinking Tactile Representation Learning with Material PriOrs Weihao Xia Chenliang Zhou Steven Chacko 244 1 0 20 May 2025
CLTP: Contrastive Language-Tactile Pre-training for 3D Contact Geometry Understanding Wenxuan Ma Xiaoge Cao Yujiao Shi Chaofan Zhang Shaobo Yang Peng Hao Bin Fang Yinghao Cai Shaowei Cui Shuo Wang 231 1 0 13 May 2025
Zero-shot Sim2Real Transfer for Magnet-Based Tactile Sensor on Insertion Tasks Beining Han Abhishek Joshi Gaowen Liu 298 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 265 2 0 22 Apr 2025
Taccel: Scaling Up Vision-based Tactile Robotics via High-performance GPU Simulation Yongqian Li Wenxin Du Chang Yu Puhao Li Zihang Zhao Tengyu Liu Jian Ren Y. Zhu Siyuan Huang 249 5 0 17 Apr 2025
ViTa-Zero: Zero-shot Visuotactile Object 6D Pose EstimationIEEE International Conference on Robotics and Automation (ICRA), 2025 Hongyu Li James Akl Srinath Sridhar Tye Brady Taskin Padir 369 1 0 17 Apr 2025
Learning to Play Piano in the Real World Yves-Simon Zeulner Sandeep Selvaraj Roberto Calandra 217 1 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 Jiaqi Zhao Jianhua Shan Zirong Shen Zixi Chen F. Sun Di Guo Bin Fang 170 0 0 12 Mar 2025
ACROSS: A Deformation-Based Cross-Modal Representation for Robotic Tactile PerceptionIEEE International Conference on Robotics and Automation (ICRA), 2024 W. Z. E. Amri Malte Kuhlmann Nicolás Navarro-Guerrero 185 3 0 20 Feb 2025
AnyTouch: Learning Unified Static-Dynamic Representation across Multiple Visuo-tactile SensorsInternational Conference on Learning Representations (ICLR), 2025 Ruoxuan Feng Jiangyu Hu Wenke Xia Tianci Gao Ao Shen Yuhao Sun Bin Fang Di Hu 409 19 0 15 Feb 2025
HydroelasticTouch: Simulation of Tactile Sensors with Hydroelastic Contact Surfaces David P. Leins Florian Patzelt R. Haschke 310 4 0 14 Jan 2025
VinT-6D: A Large-Scale Object-in-hand Dataset from Vision, Touch and ProprioceptionInternational Conference on Machine Learning (ICML), 2024 Zhaoliang Wan Yonggen Ling Senlin Yi Lu Qi Wangwei Lee ... Xiao Teng Peng Lu Xu Yang Ming-Hsuan Yang Hui Cheng 338 9 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 239 2 0 07 Nov 2024
Sparsh: Self-supervised touch representations for vision-based tactile sensingConference on Robot Learning (CoRL), 2024 Carolina Higuera Akash Sharma Chaithanya Krishna Bodduluri Taosha Fan Patrick E. Lancaster ... Michael Kaess Byron Boots Mike Lambeta Tingfan Wu Mustafa Mukadam 222 45 0 31 Oct 2024
Fine Manipulation Using a Tactile Skin: Learning in Simulation and Sim-to-Real TransferIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024 Ulf Kasolowsky Berthold Bäuml 122 4 0 19 Sep 2024
A Survey of Embodied Learning for Object-Centric Robotic ManipulationMachine Intelligence Research (MIR), 2024 Ying Zheng Lei Yao Yuejiao Su Yi Zhang Yi Wang Sicheng Zhao Yiyi Zhang Lap-Pui Chau LM&Ro 215 19 0 21 Aug 2024
TacSL: A Library for Visuotactile Sensor Simulation and LearningIEEE Transactions on robotics (IEEE Trans. Robot.), 2024 Iretiayo Akinola Jie Xu Jan Carius Dieter Fox Yashraj S. Narang 233 24 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 155 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 Pikul Mark H. Yim Tess Hellebrekers 286 18 0 10 Jul 2024
Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AI Zehua Wang Weixing Chen Yongjie Bai Xiaodan Liang Guanbin Li Wen Gao Liang Lin LM&Ro SyDa AI4CE 461 167 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 215 31 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 316 32 0 12 May 2024
Simulation of Optical Tactile Sensors Supporting Slip and Rotation using Path Tracing and IMPMIEEE Robotics and Automation Letters (RA-L), 2024 Zirong Shen Yuhao Sun Shixin Zhang Zixi Chen Heyi Sun Gang Hua Bin Fang 175 4 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 230 13 0 30 Apr 2024
Optimizing BioTac Simulation for Realistic Tactile Perception W. Z. E. Amri Nicolás Navarro 140 2 0 16 Apr 2024
PseudoTouch: Efficiently Imaging the Surface Feel of Objects for Robotic ManipulationIEEE International Conference on Robotics and Automation (ICRA), 2024 Adrian Rofer Nick Heppert Abdallah Ayman Eugenio Chisari Abhinav Valada 199 1 0 22 Mar 2024
Sim2Real Manipulation on Unknown Objects with Tactile-based Reinforcement LearningIEEE International Conference on Robotics and Automation (ICRA), 2024 Entong Su Chengzhe Jia Yuzhe Qin Wenxuan Zhou Annabella Macaluso Binghao Huang Xiaolong Wang 203 16 0 18 Mar 2024
DIFFTACTILE: A Physics-based Differentiable Tactile Simulator for Contact-rich Robotic ManipulationInternational Conference on Learning Representations (ICLR), 2024 Zilin Si Gu Zhang Qingwei Ben Branden Romero Zhou Xian Chao Liu Chuang Gan 170 29 0 13 Mar 2024
Scalable, Simulation-Guided Compliant Tactile Finger DesignInternational Conference on Soft Robotics (RoboSoft), 2024 Yuxiang Ma Arpit Agarwal Sandra Q. Liu Wenzhen Yuan Edward H. Adelson 118 3 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 334 24 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 255 101 0 31 Jan 2024
Multimodal Visual-Tactile Representation Learning through Self-Supervised Contrastive Pre-TrainingIEEE International Conference on Robotics and Automation (ICRA), 2024 Vedant Dave Fotios Lygerakis Elmar Rueckert SSL 199 38 0 22 Jan 2024
MultiPLY: A Multisensory Object-Centric Embodied Large Language Model in 3D WorldComputer Vision and Pattern Recognition (CVPR), 2024 Yining Hong Zishuo Zheng Peihao Chen Yian Wang Junyan Li Chuang Gan 193 49 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 198 43 0 20 Dec 2023
TouchSDF: A DeepSDF Approach for 3D Shape Reconstruction using Vision-Based Tactile SensingIEEE Robotics and Automation Letters (RA-L), 2023 Mauro Comi Yijiong Lin Alex Church Alessio Tonioni Laurence Aitchison Nathan Lepora 225 27 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 158 4 0 19 Nov 2023
TacIPC: Intersection- and Inversion-free FEM-based Elastomer Simulation For Optical Tactile SensorsIEEE Robotics and Automation Letters (RA-L), 2023 Wenxin Du Wenqiang Xu Jieji Ren Zhenjun Yu Cewu Lu 150 14 0 10 Nov 2023
Sim2Real Bilevel Adaptation for Object Surface Classification using Vision-Based Tactile SensorsIEEE International Conference on Robotics and Automation (ICRA), 2023 G. Caddeo Andrea Maracani P. D. Alfano Nicola A. Piga Lorenzo Rosasco Lorenzo Natale DiffM 250 7 0 02 Nov 2023
AcTExplore: Active Tactile Exploration of Unknown ObjectsIEEE International Conference on Robotics and Automation (ICRA), 2023 A. Shahidzadeh Seong Jong Yoo P. Mantripragada Chahat Deep Singh Cornelia Fermuller Yiannis Aloimonos 232 17 0 12 Oct 2023