DIFFTACTILE: A Physics-based Differentiable Tactile Simulator for Contact-rich Robotic Manipulation.
Zilin SiGu ZhangQingwei BenBranden RomeroZhou XianChao LiuChuang GanPublished in: ICLR (2024)
Keyphrases
- manipulation tasks
- force feedback
- haptic feedback
- robotic systems
- real time
- mobile robot
- simulation model
- contact force
- objective function
- robotic arm
- deformable models
- real robot
- loss function
- test bed
- simulation environment
- object manipulation
- motion planning
- high level
- real world
- image formation
- human operators
- neural network
- human robot interaction
- virtual reality
- medical images
- simulation platform
- data mining