# HydroShear: Fluid-elastic shear simulation for tactile sim-to-real reinforcement learning

- Source: arXiv cs.RO
- Published: 2026-10-19T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/hm7179sbsds9asvrsrg37ovpq
- Original: https://arxiv.org/abs/2603.00446

## Summary

HydroShear is a non-holonomic fluid-elastic tactile simulator accepted to RSS 2026, addressing tactile sim-to-real policy transfer for contact-intensive tasks. It models stick-slip transitions, path-dependent force and shear accumulation, and full SE(3) object-sensor interaction, and uses signed distance functions (SDFs) to track the displacement of indenter surface points as they interact with the sensor membrane, generating physically grounded and computationally efficient force fields from arbitrary watertight geometries.