← 研踪 PaperTrailarXiv:2611.08939 · v1
RevoSim: Scalable Multimodal Tactile Simulation for Dexterous Manipulation
首次提交 2026-11-06 11:31
版本更新 2026-11-06 11:31
雷达观测 2026-11-09 10:16
摘要
We present RevoSim, a scalable and high-fidelity multimodal tactile simulator for the BrainCo Revo3 hand that jointly models 285 piezoresistive taxels and five visuotactile fingertips. RevoSim efficiently generates synchronized pressure, depth, RGB, and marker-displacement observations; on a single RTX 5090, its depth-conditioned marker-displacement configuration supports up to 4,096 parallel environments. We train in-hand manipulation and grasping policies entirely in simulation, establishing a foundation for future sim-to-real transfer. Project page: https://braincotech.github.io/RevoSim-web/.
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v1 · 2026-11-06 11:31 · 最新观测版本
RevoSim: Scalable Multimodal Tactile Simulation for Dexterous Manipulation
We present RevoSim, a scalable and high-fidelity multimodal tactile simulator for the BrainCo Revo3 hand that jointly models 285 piezoresistive taxels and five visuotactile fingertips. RevoSim efficiently generates synchronized pressure, depth, RGB, and marker-displacement observations; on a single RTX 5090, its depth-conditioned marker-displacement configuration supports up to 4,096 parallel environments. We train in-hand manipulation and grasping policies entirely in simulation, establishing a foundation for future sim-to-real transfer. Project page: https://braincotech.github.io/RevoSim-web/.
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