# RevoSim: A Scalable Multimodal Tactile Simulator for Dexterous Manipulation

- Source: arXiv cs.RO
- Published: 2026-11-09T05:00:00.000Z
- RoboHot: https://robohot.news/en/items/bh85h7eacg4dyrdks6ukvpvwg
- Original: https://arxiv.org/abs/2611.08939

## Summary

The authors present RevoSim, a multimodal tactile simulator for the BrainCo Revo3 dexterous hand that jointly models 285 piezoresistive taxels and 5 visuotactile fingertips. The simulator can synchronously generate pressure, depth, RGB, and marker-displacement observations; on a single RTX 5090, its depth-conditioned marker-displacement configuration supports up to 4096 parallel environments. The authors trained in-hand manipulation and grasping policies entirely in simulation, laying a foundation for future sim-to-real transfer.