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simmediumroboticsmetric · varies
Tac2Real: Reliable and GPU Visuotactile Simulation for Online Reinforcement Learning and Zero-Shot Real-World Deployment
Description
Visuotactile sensors are indispensable for contact-rich robotic manipulation tasks. However, policy learning with tactile feedback in simulation, especially for online reinforcement learning (RL), remains a critical challenge, as it demands a delicate balance between physics fidelity and computational efficiency. To address this challenge, we present Tac2Real, a lightweight visuotactile simulation framework designed to enable efficient online RL training. Tac2Real integrates the Preconditioned N