# Generation of GelSight Tactile Images for Sim2Real Learning

arXiv: https://arxiv.org/abs/2101.07169 · HTML: https://mlsanity.com/paper/2101.07169/

## Key facts

- Cited by 15 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 18 Jan 2021.

## Built on by (most cited first, 15 of 15)

- [Object Detection Using Sim2Real Domain Randomization for Robotic Applications](https://mlsanity.com/paper/2208.04171/) (2022)
- [AnyRotate: Gravity-Invariant In-Hand Object Rotation with Sim-to-Real Touch](https://mlsanity.com/paper/2405.07391/) (2024)
- [Tactile Sim-to-Real Policy Transfer via Real-to-Sim Image Translation](https://mlsanity.com/paper/2106.08796/) (2021)
- [Learning to Read Braille: Bridging the Tactile Reality Gap with Diffusion Models](https://mlsanity.com/paper/2304.01182/) (2023)
- [TouchSDF: A DeepSDF Approach for 3D Shape Reconstruction using Vision-Based Tactile Sensing](https://mlsanity.com/paper/2311.12602/) (2023)
- [Sim2Real Manipulation on Unknown Objects with Tactile-based Reinforcement Learning](https://mlsanity.com/paper/2403.12170/) (2024)
- [Visual-Tactile Multimodality for Following Deformable Linear Objects Using Reinforcement Learning](https://mlsanity.com/paper/2204.00117/) (2022)
- [Taccel: Scaling Up Vision-based Tactile Robotics via High-performance GPU Simulation](https://mlsanity.com/paper/2504.12908/) (2025)
- [Towards Comprehensive Multimodal Perception: Introducing the Touch-Language-Vision Dataset](https://mlsanity.com/paper/2403.09813/) (2024)
- [Sim2Real Bilevel Adaptation for Object Surface Classification using Vision-Based Tactile Sensors](https://mlsanity.com/paper/2311.01380/) (2023)
- [Tacchi 2.0: A Low Computational Cost and Comprehensive Dynamic Contact Simulator for Vision-based Tactile Sensors](https://mlsanity.com/paper/2503.09100/) (2025)
- [HydroShear: Hydroelastic Shear Simulation for Tactile Sim-to-Real Reinforcement Learning](https://mlsanity.com/paper/2603.00446/) (2026)
- [Learning to Synthesize Volumetric Meshes from Vision-based Tactile Imprints](https://mlsanity.com/paper/2203.15155/) (2022)
- [Multimodal perception for dexterous manipulation](https://mlsanity.com/paper/2112.14298/) (2021)
- [Generating Future Observations to Estimate Grasp Success in Cluttered Environments](https://mlsanity.com/paper/2403.07877/) (2023)

## Abstract (arXiv)

Most current works in Sim2Real learning for robotic manipulation tasks leverage camera vision that may be significantly occluded by robot hands during the manipulation. Tactile sensing offers complementary information to vision and can compensate for the information loss caused by the occlusion. However, the use of tactile sensing is restricted in the Sim2Real research due to no simulated tactile sensors being available. To mitigate the gap, we introduce a novel approach for simulating a GelSight tactile sensor in the commonly used Gazebo simulator. Similar to the real GelSight sensor, the simulated sensor can produce high-resolution images by an optical sensor from the interaction between the touched object and an opaque soft membrane. It can indirectly sense forces, geometry, texture and other properties of the object and enables Sim2Real learning with tactile sensing. Preliminary experimental results have shown that the simulated sensor could generate realistic outputs similar to the ones captured by a real GelSight sensor. All the materials used in this paper are available at https://danfergo.github.io/gelsight-simulation.