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Norm2Tex: Augmenting Visuo-Tactile Simulations with Texture

arXiv · AI, language, vision and robotics · article · Sep 21, 2026 · UTC

Large-scale datasets are essential for training generalist robot control policies. Collecting real-world tactile data is costly and time-consuming, motivating the use of tactile simulations. However, current tactile simulators capture only overall contact geometry and miss fine details like texture. This results in a significant domain shift between simulated and real tactile data. To address this gap, we introduce Norm2Tex, a plug-in method that augments simulations of vision-based tactile sensors with high-frequency surface details from normal map textures. By modifying the target object's d

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