FOTS: A Fast Optical Tactile Simulator for Sim2Real Learning of
Tactile-motor Robot Manipulation Skills
FOTS: A Fast Optical Tactile Simulator for Sim2Real Learning of
Tactile-motor Robot Manipulation Skills
Simulation is a widely used tool in robotics to reduce hardware consumption and gather large-scale data. Despite previous efforts to simulate optical tactile sensors, there remain challenges in efficiently synthesizing images and replicating marker motion under different contact loads. In this work, we propose a fast optical tactile simulator, named …