TactSpace: Learning a Physics-enriched Shared Latent Space for Tactile Sim-to-Real Transfer (opens in new tab)

Tactile sensing provides direct measurements of contact interactions that are essential for robotic manipulation. However, current simulators lack the fidelity to faithfully model the complex deformation and transduction mechanics of tactile sensors, severely hindering sim-to-real transfer in robot learning pipelines. To address this challenge, we propose a multi-modal representation learning framework that aligns heterogeneous tactile modalitie...