{"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/learning-to-read-braille-bridging-the-tactile","title":"Learning to Read Braille: Bridging the Tactile Reality Gap with Diffusion Models","arxiv_id":"2304.01182","date":"2023-04-03","proceeding":null,"authors":["Carolina Higuera","Byron Boots","Mustafa Mukadam"],"abstract":"Simulating vision-based tactile sensors enables learning models for contact-rich tasks when collecting real world data at scale can be prohibitive. However, modeling the optical response of the gel deformation as well as incorporating the dynamics of the contact makes sim2real challenging. Prior works have explored data augmentation, fine-tuning, or learning generative models to reduce the sim2real gap. In this work, we present the first method to leverage probabilistic diffusion models for capturing complex illumination changes from gel deformations. Our tactile diffusion model is able to generate realistic tactile images from simulated contact depth bridging the reality gap for vision-based tactile sensing. On real braille reading task with a DIGIT sensor, a classifier trained with our diffusion model achieves 75.74% accuracy outperforming classifiers trained with simulation and other approaches. Project page: https://github.com/carolinahiguera/Tactile-Diffusion","url_abs":"https://arxiv.org/abs/2304.01182v1","url_pdf":"https://arxiv.org/pdf/2304.01182v1.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":"learning-to-read-braille-bridging-the-tactile","repo_url":"https://github.com/carolinahiguera/tactile-diffusion","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/2304.01182","atlas_url":"https://app.syntology.ai/?focus=2304.01182","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}