An Thanh Dang

HydroShear: Hydroelastic Shear Simulation for Tactile Sim-to-Real Reinforcement Learning

In this paper, we address the problem of tactile sim-to-real policy transfer for contact-rich tasks. Existing methods primarily focus on vision-based sensors and emphasize image rendering quality while providing overly simplistic models of force and shear. Consequently, these models exhibit a large …