Humans can grasp everyday objects with almost perfect success rates using fingertip tactile feedback, yet much of the robotic grasping literature emphasizes vision-based grasp selection with parallel grippers. In this work, we systematically investigate how high-resolution, dynamic tactile sensing contributes to grasp …
Vision-based tactile sensors are a popular solution for capturing rich contact surface geometry. However, to obtain high-detail contact surface normals and depth, it is necessary to calibrate the sensor by physically pressing a probe with known geometry against the sensor elastomer and mapping tactile images onto the g …
Large-scale datasets are essential for training generalist robot control policies. Collecting real-world tactile data is costly and time-consuming, motivating the use of tactile simulations. However, current tactile simulators capture only overall contact geometry and miss fine details like texture. This results in a s …