{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,5]],"date-time":"2026-03-05T15:30:55Z","timestamp":1772724655602,"version":"3.50.1"},"reference-count":72,"publisher":"IEEE","license":[{"start":{"date-parts":[[2021,5,30]],"date-time":"2021-05-30T00:00:00Z","timestamp":1622332800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2021,5,30]],"date-time":"2021-05-30T00:00:00Z","timestamp":1622332800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2021,5,30]],"date-time":"2021-05-30T00:00:00Z","timestamp":1622332800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2021,5,30]]},"DOI":"10.1109\/icra48506.2021.9561969","type":"proceedings-article","created":{"date-parts":[[2021,10,20]],"date-time":"2021-10-20T00:28:35Z","timestamp":1634689715000},"page":"6444-6451","source":"Crossref","is-referenced-by-count":47,"title":["Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections"],"prefix":"10.1109","author":[{"given":"Yashraj","family":"Narang","sequence":"first","affiliation":[]},{"given":"Balakumar","family":"Sundaralingam","sequence":"additional","affiliation":[]},{"given":"Miles","family":"Macklin","sequence":"additional","affiliation":[]},{"given":"Arsalan","family":"Mousavian","sequence":"additional","affiliation":[]},{"given":"Dieter","family":"Fox","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"key":"ref72","author":"ogden","year":"2013","journal-title":"Non-Linear Elastic Deformations"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-28872-7_21"},{"key":"ref70","doi-asserted-by":"publisher","DOI":"10.1145\/3386569.3392385"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-01219-9_43"},{"key":"ref38","article-title":"Auto-encoding variational Bayes","author":"kingma","year":"2014","journal-title":"International Conference on Learning Representations (ICLR)"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/SIMPAR.2018.8376268"},{"key":"ref32","article-title":"Solving Rubik&#x2019;s cube with a robot hand","author":"akkaya","year":"2019"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793789"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2017.XIII.048"},{"key":"ref37","article-title":"Isaac Gym","year":"2020"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2020.3011899"},{"key":"ref35","article-title":"Necessity for more realistic contact simulation","author":"zhang","year":"2020","journal-title":"Robotics Science and Systems (RSS) Workshop on Visuotactile Sensors for Robust Manipulation"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2956882"},{"key":"ref60","article-title":"Deep cross-modal audiovisual generation","author":"chen","year":"2019","journal-title":"ACM Multimedia Thematic Work"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.01086"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793763"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2020.2975555"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197063"},{"key":"ref64","doi-asserted-by":"publisher","DOI":"10.1109\/IJCNN.2019.8851984"},{"key":"ref27","article-title":"Deep object pose estimation for semantic robotic grasping of household objects","author":"tremblay","year":"2018","journal-title":"Conference on Robot Learning (CoRL)"},{"key":"ref65","author":"reddy","year":"2019","journal-title":"Introduction to the Finite Element Method"},{"key":"ref29","article-title":"STReSSD: Sim-to-real from sound for stochastic dynamics","author":"matl","year":"2020","journal-title":"Conference on Robot Learning (CoRL)"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.201707136"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.1137\/S0036144599360110"},{"key":"ref68","doi-asserted-by":"publisher","DOI":"10.1145\/3338695"},{"key":"ref69","article-title":"MeshLab: An open-source mesh processing tool","author":"cignoni","year":"2008","journal-title":"Eurographics Italian Chapter Conference"},{"key":"ref2","year":"0"},{"key":"ref1","doi-asserted-by":"crossref","DOI":"10.1126\/science.aat8414","article-title":"Trends and challenges in robot manipulation","author":"billard","year":"2019","journal-title":"Science"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794113"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2020.XVI.084"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793502"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2899192"},{"key":"ref23","doi-asserted-by":"crossref","DOI":"10.1177\/02783649211047634","article-title":"Interpreting and predicting tactile signals for the SynTouch Biotac","author":"narang","year":"2021"},{"key":"ref26","article-title":"A study on the challenges of using robotics simulators for testing","author":"afzal","year":"2020"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197365"},{"key":"ref50","author":"lin","year":"2013","journal-title":"Estimating point of contact force and torque in a biomimetic tactile sensor with deformable skin"},{"key":"ref51","article-title":"Ansys Mechanical: Finite element analysis (FEA) software","year":"2020"},{"key":"ref59","article-title":"Multimodal deep learning","author":"ngiam","year":"2011","journal-title":"International Conference on Machine Learning (ICML)"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793485"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aav3123"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2852779"},{"key":"ref55","article-title":"More than a feeling: Learning to grasp and regrasp using vision and touch","author":"calandra","year":"2017","journal-title":"Conference on Robot Learning"},{"key":"ref54","article-title":"Prediction of tactile perception from vision on deformable objects","author":"zapata-impata","year":"2020","journal-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop on Robotic Manipulation of Deformable Objects (ROMADO)"},{"key":"ref53","article-title":"Simulation of the SynTouch BioTac sensor","author":"ruppel","year":"2018","journal-title":"International Conference on Intelligent Autonomous Systems (IAS)"},{"key":"ref52","article-title":"PointNet++: Deep hierarchical feature learning on point sets in a metric space","author":"qi","year":"2017"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2016.7803400"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793612"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.3003230"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8594032"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2020.2975578"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2015.7363558"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2018.2837744"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2852797"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2015.7363560"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8461164"},{"key":"ref19","article-title":"In-hand object-dynamics inference using tactile fingertips","author":"sundaralingam","year":"2020"},{"key":"ref4","doi-asserted-by":"crossref","DOI":"10.3390\/s17122762","article-title":"GelSight: High-resolution robot tactile sensors for estimating geometry and force","author":"yuan","year":"2017","journal-title":"SENSORS"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1163\/156855308X314533"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2977257"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2017.0052"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196712"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196732"},{"key":"ref7","article-title":"Softbubble: A highly compliant dense geometry tactile sensor for robot manipulation","author":"alspach","year":"2019","journal-title":"International Conference on Soft Robotics (RoboSoft)"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.3390\/s19040928"},{"key":"ref46","article-title":"MAT: Multi-fingered adaptive tactile grasping via deep reinforcement learning","author":"wu","year":"2019","journal-title":"Conference on Robot Learning (CoRL)"},{"key":"ref45","article-title":"Unity: A general platform for intelligent agents","author":"juliani","year":"2020"},{"key":"ref48","article-title":"PyBullet: A Python module for physics simulation for games, robotics and machine learning","author":"coumans","year":"2016"},{"key":"ref47","article-title":"BarrettHand","year":"2020"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2004.1389727"},{"key":"ref41","article-title":"GelSight simulation for sim2real learning","author":"gomes","year":"2019","journal-title":"IEEE International Conference on Robotics and Automation (ICRA) Workshop on Integrating Vision and Touch for Multimodal and Cross-modal Perception (ViTac)"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197512"},{"key":"ref43","article-title":"Learning the sense of touch in simulation: A sim-to-real strategy for vision-based tactile sensing","author":"sferrazza","year":"2020","journal-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems"}],"event":{"name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","location":"Xi'an, China","start":{"date-parts":[[2021,5,30]]},"end":{"date-parts":[[2021,6,5]]}},"container-title":["2021 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9560720\/9560666\/09561969.pdf?arnumber=9561969","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,1,12]],"date-time":"2023-01-12T22:49:36Z","timestamp":1673563776000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9561969\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,5,30]]},"references-count":72,"URL":"https:\/\/doi.org\/10.1109\/icra48506.2021.9561969","relation":{},"subject":[],"published":{"date-parts":[[2021,5,30]]}}}