{"id":"https://openalex.org/W7159658535","doi":"https://doi.org/10.48550/arxiv.2604.27367","title":"DOT-Sim: Differentiable Optical Tactile Simulation with Precise Real-to-Sim Physical Calibration","display_name":"DOT-Sim: Differentiable Optical Tactile Simulation with Precise Real-to-Sim Physical Calibration","publication_year":2026,"publication_date":"2026-04-30","ids":{"openalex":"https://openalex.org/W7159658535","doi":"https://doi.org/10.48550/arxiv.2604.27367"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.27367","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.27367","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.27367","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5126796997","display_name":"Yang You","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"You, Yang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089877915","display_name":"Won Kyung","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Do, Won Kyung","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134944727","display_name":"Aiden Swann","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Swann, Aiden","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009099496","display_name":"Rika Antonova","orcid":"https://orcid.org/0000-0002-3018-2445"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Antonova, Rika","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134172152","display_name":"Monroe Kennedy","orcid":"https://orcid.org/0000-0002-4567-0409"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kennedy, Monroe","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5126841817","display_name":"Leonidas Guibas","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guibas, Leonidas","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.8707000017166138,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.8707000017166138,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10868","display_name":"Soft Robotics and Applications","score":0.021400000900030136,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10914","display_name":"Tactile and Sensory Interactions","score":0.01810000091791153,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6657000184059143},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.48159998655319214},{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.4799000024795532},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.4499000012874603},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.43880000710487366},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.4300999939441681},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.41440001130104065},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.34450000524520874}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6847000122070312},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6657000184059143},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5236999988555908},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5073000192642212},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.48159998655319214},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.4799000024795532},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.4499000012874603},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.43880000710487366},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.4300999939441681},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.41440001130104065},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.34450000524520874},{"id":"https://openalex.org/C116672817","wikidata":"https://www.wikidata.org/wiki/Q1454986","display_name":"Physical system","level":2,"score":0.3255000114440918},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.3142000138759613},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.2978000044822693},{"id":"https://openalex.org/C92630104","wikidata":"https://www.wikidata.org/wiki/Q4115103","display_name":"Optical imaging","level":2,"score":0.2727000117301941},{"id":"https://openalex.org/C132771110","wikidata":"https://www.wikidata.org/wiki/Q506922","display_name":"Adaptive optics","level":2,"score":0.26829999685287476},{"id":"https://openalex.org/C2778999744","wikidata":"https://www.wikidata.org/wiki/Q7208292","display_name":"Point target","level":3,"score":0.266400009393692},{"id":"https://openalex.org/C153715457","wikidata":"https://www.wikidata.org/wiki/Q254183","display_name":"Augmented reality","level":2,"score":0.2572999894618988},{"id":"https://openalex.org/C148204187","wikidata":"https://www.wikidata.org/wiki/Q176541","display_name":"Optical computing","level":2,"score":0.2547999918460846}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.27367","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.27367","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.27367","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.27367","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Simulating":[0],"optical":[1,14,70,104,113,157,165],"tactile":[2,71,158],"sensors":[3,52],"presents":[4],"significant":[5],"challenges":[6],"due":[7],"to":[8,90,111,121],"their":[9],"high":[10],"deformability":[11],"and":[12,20,98,130,188,195],"intricate":[13],"properties.":[15],"To":[16,101],"address":[17],"these":[18],"issues":[19],"enable":[21],"a":[22,75,108,117,137,155,202],"physically":[23],"accurate":[24],"simulation,":[25,208],"we":[26,106],"propose":[27,107],"DOT-Sim:":[28],"Differentiable":[29],"Optical":[30],"Tactile":[31],"Simulation.":[32],"Unlike":[33],"prior":[34],"simulators":[35],"that":[36,146],"rely":[37],"on":[38,185],"simplified":[39],"models":[40],"of":[41,50,69,78,133,139,154,174,213],"deformable":[42],"sensors,":[43],"DOT-Sim":[44,65,147],"accurately":[45,149],"captures":[46],"the":[47,60,103,122,128,151,178],"physical":[48,129,152],"behavior":[49],"soft":[51],"by":[53,115],"modeling":[54],"them":[55],"as":[56],"elastic":[57],"materials":[58],"using":[59,74],"Material":[61],"Point":[62],"Method":[63],"(MPM).":[64],"enables":[66,171],"rapid":[67],"calibration":[68],"sensor":[72,159],"simulation":[73],"small":[76],"number":[77],"demonstrations":[79,206],"within":[80],"minutes,":[81],"which":[82],"is":[83],"substantially":[84],"faster":[85],"than":[86,215],"existing":[87],"methods.":[88],"Compared":[89],"current":[91],"baselines,":[92],"our":[93,134],"approach":[94,110],"supports":[95],"much":[96],"larger":[97],"non-linear":[99],"deformations.":[100],"handle":[102],"aspect,":[105],"novel":[109],"simulating":[112],"responses":[114],"learning":[116],"residual":[118],"image":[119],"relative":[120],"real-world":[123],"idle":[124],"state.":[125],"We":[126],"validate":[127],"visual":[131],"realism":[132],"method":[135],"through":[136],"series":[138],"zero-shot":[140],"sim-to-real":[141],"tasks.":[142],"Our":[143],"experiments":[144],"show":[145],"(1)":[148],"replicates":[150],"dynamics":[153],"DenseTact":[156],"in":[160,167,177,191,207],"reality,":[161],"(2)":[162],"generates":[163],"realistic":[164],"outputs":[166],"contact-rich":[168],"scenarios,":[169],"(3)":[170],"direct":[172],"deployment":[173],"simulation-trained":[175],"classifiers":[176],"real":[179],"world,":[180],"achieving":[181],"85%":[182],"classification":[183],"accuracy":[184,190],"challenging":[186],"objects":[187],"90%":[189],"embedded":[192],"tumor-type":[193],"detection,":[194],"(4)":[196],"allows":[197],"precise":[198],"trajectory":[199],"following":[200],"with":[201,209],"policy":[203],"trained":[204],"from":[205],"an":[210],"average":[211],"error":[212],"less":[214],"0.9":[216],"mm.":[217]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-05-02T00:00:00"}