TactileLab Simulates the Feel of Robotic Touch

Field notes

The framework uses rigid-body simulation to estimate dense tangential motion at contact interfaces, aiming to capture shear-relevant cues without expensive soft-body physics. Its documented observation set ranges from low-dimensional forces and positions to depth maps and pixel-level or sparse tactile flow. The page also describes PETS-Net for combining tactile observations with proprioception, and reports comparisons averaged across five random seeds. Code is identified as forthcoming, while the page presents the project as an anonymous submission.