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cs.RO2024
TacEx: GelSight Tactile Simulation in Isaac Sim -- Combining Soft-Body and Visuotactile Simulators
Duc Huy Nguyen, Tim Schneider, Guillaume Duret +3
Training robot policies in simulation is becoming increasingly popular; nevertheless, a precise, reliable, and easy-to-use tactile simulator for contact-rich manipulation tasks is…
cs.RO2024
Analysing the Interplay of Vision and Touch for Dexterous Insertion Tasks
Janis Lenz, Theo Gruner, Daniel Palenicek +2
Robotic insertion tasks remain challenging due to uncertainties in perception and the need for precise control, particularly in unstructured environments. While humans seamlessly c…
cs.RO2024
What Matters for Active Texture Recognition With Vision-Based Tactile Sensors
Alina Böhm, Tim Schneider, Boris Belousov +6
This paper explores active sensing strategies that employ vision-based tactile sensors for robotic perception and classification of fabric textures. We formalize the active samplin…