GelSight

“These are the dominant vision-based tactile sensors in the market. TactX's ability to transfer beyond this family threatens the lock-in that these sensor makers currently benefit from — if representations are sensor-agnostic, customers can switch sensors without retraining”

“Prior works attempt to bridge the sim-to-real gap by developing high-fidelity, sensor-specific simulations. However, such pipelines rely heavily on modeling assumptions, require substantial engineering effort, and do not readily extend to other types of tactile sensors.”