mlsanityData to 7 Oct 2026

GelSight Wedge: Measuring High-Resolution 3D Contact Geometry with a Compact Robot Finger

arXiv 2106.08851 ↗First posted 16 Jun 2021cs.RO cs.CVcited by 34

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Abstract (arXiv)

Vision-based tactile sensors have the potential to provide important contact geometry to localize the objective with visual occlusion. However, it is challenging to measure high-resolution 3D contact geometry for a compact robot finger, to simultaneously meet optical and mechanical constraints. In this work, we present the GelSight Wedge sensor, which is optimized to have a compact shape for robot fingers, while achieving high-resolution 3D reconstruction. We evaluate the 3D reconstruction under different lighting configurations, and extend the method from 3 lights to 1 or 2 lights. We demonstrate the flexibility of the design by shrinking the sensor to the size of a human finger for fine manipulation tasks. We also show the effectiveness and potential of the reconstructed 3D geometry for pose tracking in the 3D space.

Key facts. Cited by 34 papers in the map (data through 7 Oct 2026). Builds on 20 of its 30 references that are in the map. First posted on arXiv 16 Jun 2021.

Builds on

20 of 30 references.

References · 20

  1. 2015U-Net: Convolutional Networks for Biomedical Image Segmentationcited by 19,604
  2. 2018Open3D: A Modern Library for 3D Data Processingcited by 717
  3. 2020DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor with Application to In-Hand Manipulationcited by 164
  4. 2018More Than a Feeling: Learning to Grasp and Regrasp using Vision and Touchcited by 100
  5. 2018GelSlim: A High-Resolution, Compact, Robust, and Calibrated Tactile-sensing Fingercited by 50
  6. 2019Cable Manipulation with a Tactile-Reactive Grippercited by 44
  7. 2019Manipulation by Feel: Touch-Based Control with Deep Predictive Modelscited by 34
  8. 2017Active Clothing Material Perception using Tactile Sensing and Deep Learningcited by 29
  9. 2017Improved GelSight Tactile Sensor for Measuring Geometry and Slipcited by 27
  10. 2020OmniTact: A Multi-Directional High Resolution Touch Sensorcited by 27
  11. 2020Tactile Dexterity: Manipulation Primitives with Tactile Feedbackcited by 21
  12. 2017Shape-independent Hardness Estimation Using Deep Learning and a GelSight Tactile Sensorcited by 19
8 more
  1. 2019Tactile Mapping and Localization from High-Resolution Tactile Imprintscited by 19
  2. 2018Maintaining Grasps within Slipping Bound by Monitoring Incipient Slipcited by 16
  3. 2019Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulationcited by 15
  4. 2018Tactile Regrasp: Grasp Adjustments via Simulated Tactile Transformationscited by 12
  5. 2018From pixels to percepts: Highly robust edge perception and contour following using deep learning and an optical biomimetic tactile sensorcited by 12
  6. 2020Soft, Round, High Resolution Tactile Fingertip Sensors for Dexterous Robotic Manipulationcited by 8
  7. 2020Learning the sense of touch in simulation: a sim-to-real strategy for vision-based tactile sensingcited by 7
  8. 2019Exoskeleton-covered soft finger with vision-based proprioception and tactile sensingcited by 1

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 1; 2022: 2; 2023: 9; 2024: 6; 2025: 8; 2026: 8.

34 papers.

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  1. 2024Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AIcited by 175
  2. 2022See, Hear, and Feel: Smart Sensory Fusion for Robotic Manipulationcited by 61
  3. 2023Dexterity from Touch: Self-Supervised Pre-Training of Tactile Representations with Robotic Playcited by 60
  4. 2024Transferable Tactile Transformers for Representation Learning Across Diverse Sensors and Taskscited by 44
  5. 2021ReSkin: versatile, replaceable, lasting tactile skinscited by 33
  6. 2023See to Touch: Learning Tactile Dexterity through Visual Incentivescited by 33
  7. 2023Neural feels with neural fields: Visuo-tactile perception for in-hand manipulationcited by 28
  8. 2024AnySkin: Plug-and-play Skin Sensing for Robotic Touchcited by 22
  9. 2022Visuotactile Affordances for Cloth Manipulation with Local Controlcited by 20
  10. 2026TacVLA: Contact-Aware Tactile Fusion for Robust Vision-Language-Action Manipulationcited by 17
  11. 2023Visual-Tactile Sensing for In-Hand Object Reconstructioncited by 13
  12. 2023FingerSLAM: Closed-loop Unknown Object Localization and Reconstruction from Visuo-tactile Feedbackcited by 12
22 more
  1. 2023GelSight Svelte: A Human Finger-shaped Single-camera Tactile Robot Finger with Large Sensing Coverage and Proprioceptive Sensingcited by 10
  2. 2025VT-Refine: Learning Bimanual Assembly with Visuo-Tactile Feedback via Simulation Fine-Tuningcited by 10
  3. 2023Controllable Visual-Tactile Synthesiscited by 8
  4. 2025Sensor-Invariant Tactile Representationcited by 8
  5. 2024Tactile DreamFusion: Exploiting Tactile Sensing for 3D Generationcited by 6
  6. 2025GelSLAM: A Real-time, High-Fidelity, and Robust 3D Tactile SLAM Systemcited by 6
  7. 2024LeTac-MPC: Learning Model Predictive Control for Tactile-reactive Graspingcited by 4
  8. 2025eFlesh: Highly customizable Magnetic Touch Sensing using Cut-Cell Microstructurescited by 4
  9. 2025Reactive In-Air Clothing Manipulation with Confidence-Aware Dense Correspondence and Visuotactile Affordancecited by 4
  10. 2024FusionSense: Bridging Common Sense, Vision, and Touch for Robust Sparse-View Reconstructioncited by 2
  11. 2025GelBelt: A Vision-based Tactile Sensor for Continuous Sensing of Large Surfacescited by 2
  12. 2025Enhance Vision-based Tactile Sensors via Dynamic Illumination and Image Fusioncited by 1
  13. 2026TouchAnything: Diffusion-Guided 3D Reconstruction from Sparse Robot Touchescited by 1
  14. 2023Towards Design and Development of an ArUco Markers-Based Quantitative Surface Tactile Sensorcited by 0
  15. 2023Tactile Active Inference Reinforcement Learning for Efficient Robotic Manipulation Skill Acquisitioncited by 0
  16. 2025A Modularized Design Approach for GelSight Family of Vision-based Tactile Sensorscited by 0
  17. 2026Monocular Reconstruction of Neural Tactile Fieldscited by 0
  18. 2026ViTac-Tracing: Visual-Tactile Imitation Learning of Deformable Object Tracingcited by 0
  19. 2026Transparent Fragments Contour Estimation via Visual-Tactile Fusion for Autonomous Reassemblycited by 0
  20. 2026Reduced-order Neural Modeling with Differentiable Simulation for High-Detail Tactile Perceptioncited by 0
  21. 2026Text-based Tactile Graphics Generation for the Visually Impairedcited by 0
  22. 2026Calibration-Free Surface Normals Estimation in Vision-Based Tactile Sensing using Universal Photometric Stereocited by 0