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

- Source: arXiv cs.RO
- Published: 2026-10-19T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/p5odckjhov4g4ehi49yihario
- Original: https://arxiv.org/abs/2610.23438

## Summary

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.