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No Vision Needed: Touch-Only Dexterous Hand Baoding Ball Manipulation Achieves Zero-Shot Transfer

The research team achieved Baoding ball rotation on the Shadow Dexterous Hand Lite using only proprioception and binary tactile feedback, enabling zero-shot sim-to-real transfer. In a single continuous trial on the physical hand, it completed 225 180° rotations (112.5 full rotations) at about 0.36 rotations per second, with no vision or object-state information throughout. The authors also compared the roles of touch and pure proprioception, identifying the hand regions where tactile information is most critical.

Part of the event: Vision-Free Blind-Turning Baoding Ball: Tactile Strategy Achieves Zero-Shot Transfer

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