# GelSlim 4.0: Focusing on Touch and Reproducibility

arXiv: https://arxiv.org/abs/2409.19770 · HTML: https://mlsanity.com/paper/2409.19770/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 29 Sep 2024.

## Built on by (most cited first, 4 of 4)

- [Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation](https://mlsanity.com/paper/2503.02881/) (2025)
- [OSMO: Open-Source Tactile Glove for Human-to-Robot Skill Transfer](https://mlsanity.com/paper/2512.08920/) (2025)
- [ViTaSCOPE: Visuo-tactile Implicit Representation for In-hand Pose and Extrinsic Contact Estimation](https://mlsanity.com/paper/2506.12239/) (2025)
- [GrOMP: Grasped Object Manifold Projection for Multimodal Imitation Learning of Manipulation](https://mlsanity.com/paper/2512.03347/) (2025)

## Abstract (arXiv)

Tactile sensing provides robots with rich feedback during manipulation, enabling a host of perception and controls capabilities. Here, we present a new open-source, vision-based tactile sensor designed to promote reproducibility and accessibility across research and hobbyist communities. Building upon the GelSlim 3.0 sensor, our design features two key improvements: a simplified, modifiable finger structure and easily manufacturable lenses. To complement the hardware, we provide an open-source perception library that includes depth and shear field estimation algorithms to enable in-hand pose estimation, slip detection, and other manipulation tasks. Our sensor is accompanied by comprehensive manufacturing documentation, ensuring the design can be readily produced by users with varying levels of expertise. We validate the sensor's reproducibility through extensive human usability testing. For documentation, code, and data, please visit the project website: https://www.mmintlab.com/research/gelslim-4-0/