{"id":"https://openalex.org/W4401416713","doi":"https://doi.org/10.1109/icra57147.2024.10610028","title":"Sim2Real Bilevel Adaptation for Object Surface Classification using Vision-Based Tactile Sensors","display_name":"Sim2Real Bilevel Adaptation for Object Surface Classification using Vision-Based Tactile Sensors","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416713","doi":"https://doi.org/10.1109/icra57147.2024.10610028"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610028","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610028","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031173153","display_name":"Gabriele M. Caddeo","orcid":"https://orcid.org/0000-0003-1566-1314"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Gabriele M. Caddeo","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Humanoid Sensing and Perception,Genoa,Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Humanoid Sensing and Perception,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068052561","display_name":"Andrea Maracani","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Maracani","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Humanoid Sensing and Perception,Genoa,Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Humanoid Sensing and Perception,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023216813","display_name":"Paolo Didier Alfano","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Didier Alfano","raw_affiliation_strings":["Istituto Italiano di Tecnologia,IIT@MIT,Genoa,Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,IIT@MIT,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050044143","display_name":"Nicola A. Piga","orcid":"https://orcid.org/0000-0003-3183-8108"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nicola A. Piga","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Humanoid Sensing and Perception,Genoa,Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Humanoid Sensing and Perception,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061220999","display_name":"Lorenzo Rosasco","orcid":"https://orcid.org/0000-0003-3098-383X"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lorenzo Rosasco","raw_affiliation_strings":["Istituto Italiano di Tecnologia,IIT@MIT,Genoa,Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,IIT@MIT,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009034971","display_name":"Lorenzo Natale","orcid":"https://orcid.org/0000-0002-8777-5233"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lorenzo Natale","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Humanoid Sensing and Perception,Genoa,Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Humanoid Sensing and Perception,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5031173153"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":1.508,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.83658292,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"15128","last_page":"15134"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.9793000221252441,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T14319","display_name":"Currency Recognition and Detection","score":0.9731000065803528,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7382857799530029},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7322664260864258},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7083794474601746},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.65132737159729},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5149794220924377},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.44426149129867554},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.42577987909317017},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.33764511346817017},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.1123163104057312},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.05367761850357056}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7382857799530029},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7322664260864258},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7083794474601746},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.65132737159729},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5149794220924377},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.44426149129867554},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.42577987909317017},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.33764511346817017},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.1123163104057312},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.05367761850357056},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610028","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610028","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5699999928474426,"id":"https://metadata.un.org/sdg/13","display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1505952289","https://openalex.org/W1731081199","https://openalex.org/W1901129140","https://openalex.org/W2167272335","https://openalex.org/W2775635818","https://openalex.org/W2899663614","https://openalex.org/W2962793481","https://openalex.org/W2963188159","https://openalex.org/W3008303301","https://openalex.org/W3036167779","https://openalex.org/W3094502228","https://openalex.org/W3100818121","https://openalex.org/W3112669067","https://openalex.org/W3118245039","https://openalex.org/W3128582681","https://openalex.org/W3198417399","https://openalex.org/W3214095120","https://openalex.org/W4225566379","https://openalex.org/W4362631767","https://openalex.org/W4366208220","https://openalex.org/W4383108521","https://openalex.org/W4386071541","https://openalex.org/W4389665529","https://openalex.org/W4401415233","https://openalex.org/W6637618735","https://openalex.org/W6679045638","https://openalex.org/W6779823529","https://openalex.org/W6840155194","https://openalex.org/W6846048481"],"related_works":["https://openalex.org/W2997567050","https://openalex.org/W2033256001","https://openalex.org/W2057088859","https://openalex.org/W1489808091","https://openalex.org/W1895481218","https://openalex.org/W3163518500","https://openalex.org/W2025677844","https://openalex.org/W2150609833","https://openalex.org/W4292830139","https://openalex.org/W4319309705"],"abstract_inverted_index":{"In":[0],"this":[1,26,88],"paper,":[2],"we":[3,47,90],"address":[4],"the":[5,9,43,57,62,73,77,95,134,138,147,158],"Sim2Real":[6],"gap":[7,27],"in":[8],"field":[10],"of":[11,33,59,94,109,116,127,149],"vision-based":[12],"tactile":[13,110,168],"sensors":[14],"for":[15],"classifying":[16],"object":[17,163],"surfaces.":[18],"We":[19,152],"train":[20,84],"a":[21,29,49,85,107,114,124,129,161],"Diffusion":[22,78],"Model":[23,64,79],"to":[24,51,83,133],"bridge":[25],"using":[28,76,98,157],"relatively":[30],"small":[31],"dataset":[32,108],"real-world":[34],"images":[35,53,68,111],"randomly":[36],"collected":[37],"from":[38,61,113,167],"unlabeled":[39],"everyday":[40],"objects":[41,60],"via":[42],"DIGIT":[44],"sensor.":[45],"Subsequently,":[46],"employ":[48],"simulator":[50],"generate":[52],"by":[54,137],"uniformly":[55],"sampling":[56],"surface":[58],"YCB":[63,119],"Set.":[65],"These":[66],"simulated":[67,143],"are":[69],"then":[70],"translated":[71],"into":[72],"real":[74],"domain":[75],"and":[80],"automatically":[81],"labeled":[82],"classifier.":[86],"During":[87],"training,":[89],"further":[91,153],"align":[92],"features":[93],"two":[96],"domains":[97],"an":[99],"adversarial":[100],"procedure.":[101],"Our":[102],"evaluation":[103],"is":[104],"conducted":[105],"on":[106,142,160],"obtained":[112],"set":[115],"ten":[117],"3D-printed":[118],"objects.":[120],"The":[121],"results":[122],"reveal":[123],"total":[125],"accuracy":[126],"81.9%,":[128],"significant":[130],"improvement":[131],"compared":[132],"34.7%":[135],"achieved":[136],"classifier":[139,159],"trained":[140],"solely":[141],"images.":[144],"This":[145],"demonstrates":[146],"effectiveness":[148],"our":[150,155],"approach.":[151],"validate":[154],"approach":[156],"6D":[162],"pose":[164],"estimation":[165],"task":[166],"data.":[169]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-26T15:22:09.906841","created_date":"2025-10-10T00:00:00"}