2026
Automatic Physically-Based Sim2Real for Tactile Images through Differentiable Path-Tracing Rendering
ICRA 2026poster
High-fidelity simulation of vision-based tactile sensors is essential for developing data-driven robotic manipulation algorithms. However, a significant sim-to-real gap persists due to the difficulty in modeling complex optical effects, such as refraction through protective glass layers, and in accu…