4 papers
Generating Future Observations to Estimate Grasp Success in Cluttered Environments
Daniel Fernandes Gomes, Wenxuan Mou, Paolo Paoletti +1
End-to-end self-supervised models have been proposed for estimating the success of future candidate grasps and video predictive models for generating future observations. However,…
Beyond Flat GelSight Sensors: Simulation of Optical Tactile Sensors of Complex Morphologies for Sim2Real Learning
Daniel Fernandes Gomes, Paolo Paoletti, Shan Luo
Recently, several morphologies, each with its advantages, have been proposed for the \textit{GelSight} high-resolution tactile sensors. However, existing simulation methods are lim…
GelTip Tactile Sensor for Dexterous Manipulation in Clutter
Daniel Fernandes Gomes, Shan Luo
Tactile sensing is an essential capability for robots that carry out dexterous manipulation tasks. While cameras, Lidars and other remote sensors can assess a scene globally and in…
Reducing Tactile Sim2Real Domain Gaps via Deep Texture Generation Networks
Tudor Jianu, Daniel Fernandes Gomes, Shan Luo
Recently simulation methods have been developed for optical tactile sensors to enable the Sim2Real learning, i.e., firstly training models in simulation before deploying them on th…