Paolo Didier Alfano

Sim2Real Bilevel Adaptation for Object Surface Classification using Vision-Based Tactile Sensors

In this paper, we address the Sim2Real gap in the field of vision-based tactile sensors for classifying object surfaces. We train a Diffusion Model to bridge this gap using a relatively small dataset of real-world images randomly collected from unlabeled everyday objects via the DIGIT sensor. Subseq…