{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,21]],"date-time":"2026-10-21T16:37:40Z","timestamp":1792600660625,"version":"4.5.0"},"reference-count":66,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"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":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2025]]},"DOI":"10.1109\/tro.2025.3547267","type":"journal-article","created":{"date-parts":[[2025,3,5]],"date-time":"2025-03-05T14:03:11Z","timestamp":1741183391000},"page":"2645-2661","source":"Crossref","is-referenced-by-count":30,"title":["TacSL: A Library for Visuotactile Sensor Simulation and Learning"],"prefix":"10.1109","volume":"41","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8398-8138","authenticated-orcid":false,"given":"Iretiayo","family":"Akinola","sequence":"first","affiliation":[{"name":"NVIDIA Corporation, Seattle, WA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3510-3387","authenticated-orcid":false,"given":"Jie","family":"Xu","sequence":"additional","affiliation":[{"name":"NVIDIA Corporation, Seattle, WA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7158-9404","authenticated-orcid":false,"given":"Jan","family":"Carius","sequence":"additional","affiliation":[{"name":"NVIDIA Corporation, Seattle, WA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dieter","family":"Fox","sequence":"additional","affiliation":[{"name":"NVIDIA Corporation, Seattle, WA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5445-3759","authenticated-orcid":false,"given":"Yashraj","family":"Narang","sequence":"additional","affiliation":[{"name":"NVIDIA Corporation, Seattle, WA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1038\/nrn2621"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1007\/s002210000615"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00583.2020"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2017.11.002"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.3003230"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2021.3100645"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1177\/02783649211027233"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2022.104321"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.3390\/s17122762"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2017.0052"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOSOFT.2019.8722713"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2977257"},{"key":"ref13","article-title":"Isaac Gym: High performance GPU-based physics simulation for robot learning","author":"Makoviychuk","year":"2021"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6386109"},{"key":"ref15","article-title":"PyBullet: A Python module for physics simulation for games, robotics and machine learning","author":"Coumans","year":"20162021"},{"key":"ref16","first-page":"1488","article-title":"Efficient tactile simulation with differentiability for robotic manipulation","volume-title":"Proc. Conf. Robot Learn.","author":"Xu","year":"2023"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561969"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3142412"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3146945"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3195195"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aau5872"},{"key":"ref22","first-page":"297","article-title":"A system for general in-hand object re-orientation","volume-title":"Proc. Conf. Robot Learn.","author":"Chen","year":"2022"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1163\/156855308X314533"},{"key":"ref24","article-title":"ReSkin: Versatile, replaceable, lasting tactile skins","volume-title":"Proc. CoRL","author":"Bhirangi","year":"2021"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2009.5206534"},{"key":"ref26","volume-title":"Introduction to the Finite Element Method","author":"Reddy","year":"2019"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1177\/02783649211047634"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794113"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2956882"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341285"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3158725"},{"key":"ref32","article-title":"Learning mesh-based simulation with graph networks","volume-title":"Int. Conf. Learn. Representations","author":"Pfaff","year":"2020"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10160986"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2024.3352969"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968548"},{"key":"ref36","first-page":"1645","article-title":"Tactile sim-to-real policy transfer via real-to-sim image translation","volume-title":"Proc. Conf. Robot Learn.","author":"Church","year":"2022"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3063925"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2023.3268458"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3167064"},{"key":"ref40","article-title":"Learning to read braille: Bridging the tactile reality gap with diffusion models","author":"Higuera","year":"2023"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197512"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/icra57147.2024.10610583"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3295991"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3084880"},{"key":"ref45","first-page":"2549","article-title":"General in-hand object rotation with vision and touch","volume-title":"Proc. Conf. Robot Learn.","author":"Qi","year":"2023"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1145\/3309486.3340247"},{"key":"ref48","first-page":"1069","volume-title":"Viscoelasticity","author":"Fliigge","year":"1967"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-32552-1_37"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1109\/MCG.2011.30"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2021.xvii.008"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2022.XVIII.035"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1145\/3384538"},{"key":"ref54","doi-asserted-by":"crossref","DOI":"10.24963\/ijcai.2018\/687","article-title":"Behavioral cloning from observation","volume-title":"Proc. Int. Joint Conf. Artif. Intell.","author":"Torabi","year":"2018"},{"key":"ref55","first-page":"627","article-title":"A reduction of imitation learning and structured prediction to no-regret online learning","volume-title":"Proc. 14th Int. Conf. Artif. Intell. Statist.","author":"Ross","year":"2011"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.64434\/tml.20251027"},{"key":"ref57","first-page":"1331","article-title":"Distilling policy distillation","volume-title":"Proc. 22nd Int. Conf. Artif. Intell. Statist.","author":"Czarnecki","year":"2019"},{"key":"ref58","article-title":"Proximal policy optimization algorithms","author":"Schulman","year":"2017"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2018.xiv.008"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9560783"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2024.XX.064"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2023.XIX.039"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1115\/1.3423596"},{"key":"ref64","doi-asserted-by":"publisher","DOI":"10.1109\/3468.798060"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9340881"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.1109\/RoboSoft55895.2023.10122097"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2025.3551637"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/8860\/10778592\/10912733.pdf?arnumber=10912733","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,7,9]],"date-time":"2026-07-09T19:46:54Z","timestamp":1783626414000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10912733\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025]]},"references-count":66,"URL":"https:\/\/doi.org\/10.1109\/tro.2025.3547267","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025]]}}}