Zero-shot Sim2Real Transfer for Magnet-Based Tactile Sensor on Insertion Tasks

Beining Han, Abhishek Joshi, Jia Deng

Keywords: tactile sensors; sim-to-real; insertion

Abstract: We aim to bridge the sim-to-real gap of dense, distributed, 3-axes, magnet-based tactile sensors, like u-skin, which balances well between tactile density, high-durability, and compactness. Unlike prior works that use binarization techniques, we propose GCS, a novel sim-to-real technique to learn contact-rich insertion skills. We evaluated our approach in blind insertion tasks and show zero-shot sim-to-real transfer of RL policies with raw tactile readings as input.

Submission Number: 18