FOTS: A Fast Optical Tactile Simulator for Sim2Real Learning of Tactile-motor Robot Manipulation Skills
作者: Yongqiang Zhao, Kun Qian, Boyi Duan, Shan Luo
分类: cs.RO
发布日期: 2024-04-30 (更新: 2024-05-01)
🔗 代码/项目: GITHUB
💡 一句话要点
提出FOTS以解决光学触觉传感器模拟效率问题
🎯 匹配领域: 支柱一：机器人控制 (Robot Control)
📋 核心要点
- 现有光学触觉传感器模拟方法在图像合成和标记运动复制效率上存在不足，难以满足高效仿真的需求。
- FOTS通过多层感知器映射和阴影生成技术，结合标记分布近似，有效提升了光学触觉传感器的模拟效率和质量。
- 实验结果显示，FOTS在图像生成和标记运动模拟速度上显著优于现有方法，支持零-shot Sim2Real学习。
- method_zh
📝 摘要（中文）
本研究提出了一种快速光学触觉模拟器FOTS，旨在高效模拟光学触觉传感器。尽管已有研究尝试模拟光学触觉传感器，但在不同接触负载下合成图像和复制标记运动方面仍存在挑战。FOTS通过多层感知器映射和平面阴影生成来模拟光学响应，同时采用标记分布近似来模拟因弹性体变形引起的表面标记运动。实验结果表明，FOTS在图像生成质量和渲染速度方面优于其他方法，单CPU下光学模拟达到28.6 fps，标记运动模拟达到326.1 fps。此外，我们将FOTS与物理引擎MuJoCo集成，展示了其在零-shot Sim2Real学习触觉-运动机器人操作技能方面的有效性。
🖼️ 关键图片
📄 摘要（原文）
Simulation is a widely used tool in robotics to reduce hardware consumption and gather large-scale data. Despite previous efforts to simulate optical tactile sensors, there remain challenges in efficiently synthesizing images and replicating marker motion under different contact loads. In this work, we propose a fast optical tactile simulator, named FOTS, for simulating optical tactile sensors. We utilize multi-layer perceptron mapping and planar shadow generation to simulate the optical response, while employing marker distribution approximation to simulate the motion of surface markers caused by the elastomer deformation. Experimental results demonstrate that FOTS outperforms other methods in terms of image generation quality and rendering speed, achieving 28.6 fps for optical simulation and 326.1 fps for marker motion simulation on a single CPU without GPU acceleration. In addition, we integrate the FOTS simulation model with physical engines like MuJoCo, and the peg-in-hole task demonstrates the effectiveness of our method in achieving zero-shot Sim2Real learning of tactile-motor robot manipulation skills. Our code is available at https://github.com/Rancho-zhao/FOTS.