{"id":"https://openalex.org/W3091760204","doi":"https://doi.org/10.1109/icra40945.2020.9197512","title":"Sim-to-Real Transfer for Optical Tactile Sensing","display_name":"Sim-to-Real Transfer for Optical Tactile Sensing","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3091760204","doi":"https://doi.org/10.1109/icra40945.2020.9197512","mag":"3091760204"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197512","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2004.00136","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5002742139","display_name":"Zihan Ding","orcid":"https://orcid.org/0009-0005-2008-4816"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Zihan Ding","raw_affiliation_strings":["The Robot Learning Lab, Imperial College London"],"affiliations":[{"raw_affiliation_string":"The Robot Learning Lab, Imperial College London","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015897265","display_name":"Nathan F. Lepora","orcid":"https://orcid.org/0000-0001-5327-1523"},"institutions":[{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]},{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nathan F. Lepora","raw_affiliation_strings":["Bristol Robotics Laboratory, University of Bristol"],"affiliations":[{"raw_affiliation_string":"Bristol Robotics Laboratory, University of Bristol","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I36234482"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080385974","display_name":"Edward Johns","orcid":"https://orcid.org/0000-0002-8914-8786"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Edward Johns","raw_affiliation_strings":["The Robot Learning Lab, Imperial College London"],"affiliations":[{"raw_affiliation_string":"The Robot Learning Lab, Imperial College London","institution_ids":["https://openalex.org/I47508984"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":12.963,"has_fulltext":false,"cited_by_count":44,"citation_normalized_percentile":{"value":0.999826,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1639","last_page":"1645"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9932,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9809,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.72239065},{"id":"https://openalex.org/keywords/transfer-of-learning","display_name":"Transfer of learning","score":0.5991473}],"concepts":[{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.72239065},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6463604},{"id":"https://openalex.org/C150899416","wikidata":"https://www.wikidata.org/wiki/Q1820378","display_name":"Transfer of learning","level":2,"score":0.5991473},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.57151604},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.56695044},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5549795},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4685966},{"id":"https://openalex.org/C2776175482","wikidata":"https://www.wikidata.org/wiki/Q1195816","display_name":"Transfer (computing)","level":2,"score":0.46233106},{"id":"https://openalex.org/C133462117","wikidata":"https://www.wikidata.org/wiki/Q4929239","display_name":"Data collection","level":2,"score":0.4494101},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.41144615},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09150475},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197512","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2004.00136","pdf_url":"https://arxiv.org/pdf/2004.00136","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2004.00136","pdf_url":"https://arxiv.org/pdf/2004.00136","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":30,"referenced_works":["https://openalex.org/W1665214252","https://openalex.org/W1995293185","https://openalex.org/W2072660839","https://openalex.org/W2128681845","https://openalex.org/W2155007355","https://openalex.org/W2210408922","https://openalex.org/W2416041116","https://openalex.org/W2485911221","https://openalex.org/W2567455162","https://openalex.org/W2585610283","https://openalex.org/W2605102758","https://openalex.org/W2781493652","https://openalex.org/W2895765426","https://openalex.org/W2903932337","https://openalex.org/W2908482163","https://openalex.org/W2922165347","https://openalex.org/W2923189133","https://openalex.org/W2962736495","https://openalex.org/W2963048676","https://openalex.org/W2963649664","https://openalex.org/W2964161785","https://openalex.org/W2969180157","https://openalex.org/W2972319721","https://openalex.org/W2979098108","https://openalex.org/W2990747716","https://openalex.org/W3003629310","https://openalex.org/W3101442004","https://openalex.org/W3104208381","https://openalex.org/W3131743090","https://openalex.org/W4297818513"],"related_works":["https://openalex.org/W3201126466","https://openalex.org/W3163518500","https://openalex.org/W2354786567","https://openalex.org/W2186048469","https://openalex.org/W2150609833","https://openalex.org/W2057088859","https://openalex.org/W2033256001","https://openalex.org/W2025677844","https://openalex.org/W1895481218","https://openalex.org/W1489808091"],"abstract_inverted_index":{"Deep":[0],"learning":[1,4,11],"and":[2,14,98,107],"reinforcement":[3],"methods":[5,43],"have":[6],"been":[7],"shown":[8],"to":[9,31,103,132],"enable":[10],"of":[12,24,40,67,77,109],"flexible":[13],"complex":[15],"robot":[16],"controllers.":[17],"However,":[18],"the":[19,60,75,94,105,115],"reliance":[20],"on":[21],"large":[22],"amounts":[23],"training":[25],"data":[26,29,149],"often":[27],"requires":[28],"collection":[30],"be":[32,130],"carried":[33],"out":[34],"in":[35,46,112,143],"simulation,":[36],"with":[37,71,114,136],"a":[38,68,72,84,100],"number":[39],"sim-to-real":[41,122],"transfer":[42],"being":[44],"developed":[45],"recent":[47],"years.":[48],"In":[49],"this":[50,80,127],"paper,":[51],"we":[52,124],"study":[53],"these":[54],"techniques":[55,120],"for":[56,86,121],"tactile":[57,63],"sensing":[58],"using":[59,93],"TacTip":[61],"optical":[62],"sensor,":[64],"which":[65,90],"consists":[66],"deformable":[69],"tip":[70],"camera":[73],"observing":[74],"positions":[76],"pins":[78],"inside":[79],"tip.":[81],"We":[82],"designed":[83],"model":[85],"soft":[87],"body":[88],"simulation":[89],"was":[91],"implemented":[92],"Unity":[95],"physics":[96],"engine,":[97],"trained":[99],"neural":[101],"network":[102],"predict":[104,134],"locations":[106],"angles":[108],"edges":[110,135],"when":[111],"contact":[113],"sensor.":[116],"Using":[117],"domain":[118],"randomisation":[119],"transfer,":[123],"show":[125],"how":[126],"framework":[128],"can":[129],"used":[131],"accurately":[133],"less":[137],"than":[138],"1":[139],"mm":[140],"prediction":[141],"error":[142],"real-world":[144,148],"testing,":[145],"without":[146],"any":[147],"at":[150],"all.":[151]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W3091760204","counts_by_year":[{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":14},{"year":2020,"cited_by_count":4}],"updated_date":"2025-01-06T19:44:36.871327","created_date":"2020-10-08"}