Tacmap: Bridging the Tactile Sim-to-Real Gap via Geometry-Consistent Penetration Depth Map

Lei Su, Zhijie Peng, Renyuan Ren +4

Vision-Based Tactile Sensors (VBTS) are essential for achieving dexterous robotic manipulation, yet the tactile sim-to-real gap remains a fundamental bottleneck. Current tactile si…