Sim2Real Bilevel Adaptation for Object Surface Classification using Vision-Based Tactile Sensors. (arXiv:2311.01380v1 [cs.RO])

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. Subsequently,
we employ a simulator to generate images by uniformly sampling the surface of
objects from the YCB Model Set. These simulated images are then translated into
the real domain using the Diffusion Model …

arxiv bridge classification dataset diffusion diffusion model digit gap images objects paper sensor sensors small surface train vision world