{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/grasp-stability-prediction-with-sim-to-real","title":"Grasp Stability Prediction with Sim-to-Real Transfer from Tactile Sensing","arxiv_id":"2208.02885","date":"2022-08-04","proceeding":null,"authors":["Zilin Si","Zirui Zhu","Arpit Agarwal","Stuart Anderson","Wenzhen Yuan"],"abstract":"Robot simulation has been an essential tool for data-driven manipulation tasks. However, most existing simulation frameworks lack either efficient and accurate models of physical interactions with tactile sensors or realistic tactile simulation. This makes the sim-to-real transfer for tactile-based manipulation tasks still challenging. In this work, we integrate simulation of robot dynamics and vision-based tactile sensors by modeling the physics of contact. This contact model uses simulated contact forces at the robot's end-effector to inform the generation of realistic tactile outputs. To eliminate the sim-to-real transfer gap, we calibrate our physics simulator of robot dynamics, contact model, and tactile optical simulator with real-world data, and then we demonstrate the effectiveness of our system on a zero-shot sim-to-real grasp stability prediction task where we achieve an average accuracy of 90.7% on various objects. Experiments reveal the potential of applying our simulation framework to more complicated manipulation tasks. We open-source our simulation framework at https://github.com/CMURoboTouch/Taxim/tree/taxim-robot.","url_abs":"https://arxiv.org/abs/2208.02885v1","url_pdf":"https://arxiv.org/pdf/2208.02885v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"grasp-stability-prediction-with-sim-to-real","repo_url":"https://github.com/CMURoboTouch/Taxim","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/2208.02885","atlas_url":"https://app.syntology.ai/?focus=2208.02885","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}