Tactile sensing has seen  rapid adoption with the advent of vision-based tactile sensors. Vision-based tactile sensors provide high resolution, compact and inexpensive data to perform precise in-hand manipulation and robot-human interaction. However, the simulation of tactile sensors is still a challenge. In this paper, we built the first fully general optical tactile simulation system for GelSight using physics-based rendering techniques. We propose physically accurate light models and show in-depth analysis of individual components of our simulation pipeline. Our system outperforms previous simulation techniques qualitatively and quantitative on image similarity metrics. 
Tactile sensing has seen a rapid adoption with the advent of vision-based tactile sensors. Vision-based tactile sensors provide high resolution, compact and inexpensive data to perform precise in-hand manipulation and human-robot interaction. However, the simulation of tactile sensors is still a challenge. In this paper, we built the first fully general optical tactile simulation system for a GelSight sensor using physics-based rendering techniques. We propose physically accurate light models and show in-depth analysis of individual components of our simulation pipeline. Our system outperforms previous simulation techniques qualitatively and quantitative on image similarity metrics. Our code and experimental data is open-sourced at URL
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a
R
robot-human
human-robot
R
GelSight
a GelSight sensor
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Our code and experimental data is open-sourced at URL