Event
Vision-Free Blind-Turning Baoding Ball: Tactile Strategy Achieves Zero-Shot Transfer
1 reports · 1 sources
Ayush Deshmukh and other researchers completed Baoding ball rotation on the Shadow Dexterous Hand Lite using only proprioception and binary tactile feedback as observations, and achieved zero-shot sim-to-real transfer. In a single continuous real-machine trial, they completed 225 180° rotations (112.5 full turns), at a speed of approximately 0.36 revolutions per second, without using vision or object state information throughout. The authors state that the zero-shot transfer relies on sensor-aligned, coupling-aware embodied modeling in simulation, tactile calibration, and two new piecewise domain randomizations: action rate limits and STuck-AT Taxels. The study also compares the roles of tactile and pure proprioceptive sensing, identifying the hand regions where tactile information is most critical.
Report timeline
- 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.
arXiv cs.RO ·