RevoSim：巧みな操作のためのスケーラブルなマルチモーダル触覚シミュレータ
RevoSim: Scalable Multimodal Tactile Simulation for Dexterous Manipulation
BrainCo Revo3ハンド向けに、圧力・深度・RGB・マーカー変位を同期生成する高忠実度触覚シミュレータを開発し、単一GPUで最大4096並列環境を実現した。
著者: Ke Zhang, Lixin Xu, Ziyi Wang, Xiyue Dong, Jie Tan, Lianghu Shao, Xianpeng Wang, Chuanyu Li, Renjing Xu
分類: cs.RO
原文アブストラクト
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/.