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TacSL: A Library for Visuotactile Sensor Simulation and Learning

12 August 2024

Dieter Fox

Papers citing "TacSL: A Library for Visuotactile Sensor Simulation and Learning"

47 / 47 papers shown

Title
ManiFeel: Benchmarking and Understanding Visuotactile Manipulation Policy Learning Quan Khanh Luu Pokuang Zhou Zhengtong Xu Zhiyuan Zhang Qiang Qiu Yu She 43 0 0 24 May 2025
Accelerating Visual Reinforcement Learning with Separate Primitive Policy for Peg-in-Hole Tasks Zichun Xu Zhaomin Wang Yuntao Li Lei Zhuang Zhiyuan Zhao Guocai Yang Jingdong Zhao 52 0 0 21 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 Chenfanfu Jiang Y. Zhu Siyuan Huang 86 0 0 17 Apr 2025
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 109 1 0 07 Nov 2024
FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation under Uncertainty Michael Noseworthy Bingjie Tang Bowen Wen Ankur Handa Nicholas Roy Nicholas Roy Dieter Fox Yashraj S. Narang Iretiayo Akinola Iretiayo Akinola 103 11 0 08 Aug 2024
AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometries Bingjie Tang Iretiayo Akinola Jie Xu Bowen Wen Ankur Handa Karl Van Wyk Dieter Fox Gaurav Sukhatme Fabio Ramos Yashraj S. Narang 201 17 0 10 Jul 2024
General In-Hand Object Rotation with Vision and Touch Haozhi Qi Brent Yi Sudharshan Suresh Mike Lambeta Yi Ma Roberto Calandra Jitendra Malik 115 92 0 18 Sep 2023
DenseTact-Mini: An Optical Tactile Sensor for Grasping Multi-Scale Objects From Flat Surfaces Won Kyung Do A. K. Dhawan Mathilda Kitzmann Monroe Kennedy 65 9 0 16 Sep 2023
Bi-Touch: Bimanual Tactile Manipulation with Sim-to-Real Deep Reinforcement Learning Yijiong Lin Alex Church Max Yang Haoran Li John Lloyd Dandan Zhang Nathan Lepora 78 28 0 12 Jul 2023
IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality Bingjie Tang Michael A. Lin Iretiayo Akinola Ankur Handa Gaurav Sukhatme Fabio Ramos Dieter Fox Yashraj S. Narang OffRL 86 54 0 26 May 2023
GelSight360: An Omnidirectional Camera-Based Tactile Sensor for Dexterous Robotic Manipulation Megha H. Tippur Edward H. Adelson 55 26 0 09 Apr 2023
Learning to Read Braille: Bridging the Tactile Reality Gap with Diffusion Models Carolina Higuera Byron Boots Mustafa Mukadam DiffM 65 28 0 03 Apr 2023
DefGraspNets: Grasp Planning on 3D Fields with Graph Neural Nets Isabella Huang Yashraj S. Narang R. Bajcsy Fabio Ramos Tucker Hermans Dieter Fox 54 11 0 28 Mar 2023
Tactile Gym 2.0: Sim-to-real Deep Reinforcement Learning for Comparing Low-cost High-Resolution Robot Touch Yijiong Lin John Lloyd Alex Church Nathan Lepora 75 47 0 21 Jul 2022
Factory: Fast Contact for Robotic Assembly Yashraj S. Narang Kier Storey Iretiayo Akinola Miles Macklin Philipp Reist ... Ádám Moravánszky Gavriel State Michelle Lu Ankur Handa Dieter Fox 117 82 0 07 May 2022
DefGraspSim: Physics-based simulation of grasp outcomes for 3D deformable objects Isabella Huang Yashraj S. Narang Clemens Eppner Balakumar Sundaralingam Miles Macklin R. Bajcsy Tucker Hermans Dieter Fox 128 26 0 21 Mar 2022
A System for General In-Hand Object Re-Orientation Tao Chen Jie Xu Pulkit Agrawal 118 258 0 04 Nov 2021
ReSkin: versatile, replaceable, lasting tactile skins Raunaq M. Bhirangi Tess Hellebrekers Carmel Majidi Abhinav Gupta SyDa 92 77 0 29 Oct 2021
Taxim: An Example-based Simulation Model for GelSight Tactile Sensors Zilin Si Wenzhen Yuan 97 99 0 09 Sep 2021
Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning Viktor Makoviychuk Lukasz Wawrzyniak Yunrong Guo Michelle Lu Kier Storey ... David Hoeller Nikita Rudin Arthur Allshire Ankur Handa Gavriel State 180 1,092 0 24 Aug 2021
An End-to-End Differentiable Framework for Contact-Aware Robot Design Jie Xu Tao Chen Lara Zlokapa Michael Foshey Wojciech Matusik Shinjiro Sueda Pulkit Agrawal 95 91 0 15 Jul 2021
GelSight Wedge: Measuring High-Resolution 3D Contact Geometry with a Compact Robot Finger Shaoxiong Wang Y. She Branden Romero Edward H. Adelson 54 125 0 16 Jun 2021
Tactile Sim-to-Real Policy Transfer via Real-to-Sim Image Translation Alex Church John Lloyd R. Hadsell Nathan Lepora 82 52 0 16 Jun 2021
Soft Biomimetic Optical Tactile Sensing with the TacTip: A Review Nathan Lepora 75 122 0 30 May 2021
Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections Yashraj S. Narang Balakumar Sundaralingam Miles Macklin Arsalan Mousavian Dieter Fox 73 61 0 31 Mar 2021
Generation of GelSight Tactile Images for Sim2Real Learning D. F. Gomes Paolo Paoletti Shan Luo 71 87 0 18 Jan 2021
Interpreting and Predicting Tactile Signals for the SynTouch BioTac Yashraj S. Narang Balakumar Sundaralingam Karl Van Wyk Arsalan Mousavian Dieter Fox 54 36 0 14 Jan 2021
Zero-shot sim-to-real transfer of tactile control policies for aggressive swing-up manipulation Thomas Bi Carmelo Sferrazza Raffaello DÁndrea 155 36 0 07 Jan 2021
TACTO: A Fast, Flexible, and Open-source Simulator for High-Resolution Vision-based Tactile Sensors Shaoxiong Wang Mike Lambeta Po-wei Chou Roberto Calandra 84 143 0 15 Dec 2020
Learning Mesh-Based Simulation with Graph Networks Tobias Pfaff Meire Fortunato Alvaro Sanchez-Gonzalez Peter W. Battaglia AI4CE 82 806 0 07 Oct 2020
GelTip: A Finger-shaped Optical Tactile Sensor for Robotic Manipulation D. F. Gomes Zhonglin Lin Shan Luo 66 99 0 12 Aug 2020
DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor with Application to In-Hand Manipulation Mike Lambeta Po-wei Chou Stephen Tian Brian Yang Benjamin Maloon ... Raymond Santos A. Byagowi Gregg Kammerer Dinesh Jayaraman Roberto Calandra 84 486 0 29 May 2020
Sim-to-Real Transfer for Optical Tactile Sensing Zihan Ding Nathan Lepora Edward Johns 57 49 0 31 Mar 2020
Learning the sense of touch in simulation: a sim-to-real strategy for vision-based tactile sensing Carmelo Sferrazza Thomas Bi Raffaello DÁndrea DiffM 153 41 0 05 Mar 2020
Cable Manipulation with a Tactile-Reactive Gripper Y. She Shaoxiong Wang Siyuan Dong N. Sunil Alberto Rodriguez Edward H. Adelson 105 258 0 03 Oct 2019
Ground truth force distribution for learning-based tactile sensing: a finite element approach Carmelo Sferrazza Adam Wahlsten Camill Trueeb Raffaello DÁndrea OOD 60 69 0 09 Sep 2019
A pressure field model for fast, robust approximation of net contact force and moment between nominally rigid objects Ryan Elandt Evan Drumwright Michael Sherman A. Ruina 55 35 0 25 Apr 2019
Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation A. Alspach Kunimatsu Hashimoto Naveen Kuppuswamy Russ Tedrake 50 98 0 03 Apr 2019
Distilling Policy Distillation Wojciech M. Czarnecki Razvan Pascanu Simon Osindero Siddhant M. Jayakumar G. Swirszcz Max Jaderberg 75 134 0 06 Feb 2019
Learning agile and dynamic motor skills for legged robots Jemin Hwangbo Joonho Lee Alexey Dosovitskiy Dario Bellicoso Vassilios Tsounis V. Koltun Marco Hutter 116 1,320 0 24 Jan 2019
Dense Tactile Force Distribution Estimation using GelSlim and inverse FEM Daolin Ma E. Donlon Siyuan Dong Alberto Rodriguez 55 127 0 10 Oct 2018
Behavioral Cloning from Observation F. Torabi Garrett A. Warnell Peter Stone OffRL 115 732 0 04 May 2018
Robotic Tactile Perception of Object Properties: A Review Shan Luo João Bimbo R. Dahiya Hongbin Liu 77 359 0 10 Nov 2017
Asymmetric Actor Critic for Image-Based Robot Learning Lerrel Pinto Marcin Andrychowicz Peter Welinder Wojciech Zaremba Pieter Abbeel OffRL 70 375 0 18 Oct 2017
Proximal Policy Optimization Algorithms John Schulman Filip Wolski Prafulla Dhariwal Alec Radford Oleg Klimov OffRL 583 19,315 0 20 Jul 2017
Policy Distillation Andrei A. Rusu Sergio Gomez Colmenarejo Çağlar Gülçehre Guillaume Desjardins J. Kirkpatrick Razvan Pascanu Volodymyr Mnih Koray Kavukcuoglu R. Hadsell 105 696 0 19 Nov 2015
A Reduction of Imitation Learning and Structured Prediction to No-Regret Online Learning Stéphane Ross Geoffrey J. Gordon J. Andrew Bagnell OffRL 263 3,238 0 02 Nov 2010