mlsanityData to 7 Oct 2026

Learning In-Hand Translation Using Tactile Skin With Shear and Normal Force Sensing

arXiv 2407.07885 ↗First posted 10 Jul 2024cs.RO cs.LGcited by 13

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Abstract (arXiv)

Recent progress in reinforcement learning (RL) and tactile sensing has significantly advanced dexterous manipulation. However, these methods often utilize simplified tactile signals due to the gap between tactile simulation and the real world. We introduce a sensor model for tactile skin that enables zero-shot sim-to-real transfer of ternary shear and binary normal forces. Using this model, we develop an RL policy that leverages sliding contact for dexterous in-hand translation. We conduct extensive real-world experiments to assess how tactile sensing facilitates policy adaptation to various unseen object properties and robot hand orientations. We demonstrate that our 3-axis tactile policies consistently outperform baselines that use only shear forces, only normal forces, or only proprioception. Website: https://jessicayin.github.io/tactile-skin-rl/

Key facts. Cited by 13 papers in the map (data through 7 Oct 2026). Builds on 32 of its 56 references that are in the map. First posted on arXiv 10 Jul 2024.

Builds on

32 of 56 references.

References · 32

  1. 2017Proximal Policy Optimization Algorithmscited by 14,441
  2. 2021Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learningcited by 882
  3. 2019Solving Rubik's Cube with a Robot Handcited by 699
  4. 2018Learning Dexterous In-Hand Manipulationcited by 643
  5. 2020DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor with Application to In-Hand Manipulationcited by 164
  6. 2024DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulationcited by 149
  7. 2022DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Realitycited by 136
  8. 2022In-Hand Object Rotation via Rapid Motor Adaptationcited by 102
  9. 2022Visual Dexterity: In-Hand Reorientation of Novel and Complex Object Shapescited by 92
  10. 2023General In-Hand Object Rotation with Vision and Touchcited by 87
  11. 2022From One Hand to Multiple Hands: Imitation Learning for Dexterous Manipulation from Single-Camera Teleoperationcited by 79
  12. 2023Rotating without Seeing: Towards In-hand Dexterity through Touchcited by 78
20 more
  1. 2022Dexterous Imitation Made Easy: A Learning-Based Framework for Efficient Dexterous Manipulationcited by 75
  2. 2023Teach a Robot to FISH: Versatile Imitation from One Minute of Demonstrationscited by 74
  3. 2020TACTO: A Fast, Flexible, and Open-source Simulator for High-Resolution Vision-based Tactile Sensorscited by 59
  4. 2022Holo-Dex: Teaching Dexterity with Immersive Mixed Realitycited by 52
  5. 2023Robot Synesthesia: In-Hand Manipulation with Visuotactile Sensingcited by 51
  6. 2022Differentiable Physics Simulation of Dynamics-Augmented Neural Objectscited by 45
  7. 2021Taxim: An Example-based Simulation Model for GelSight Tactile Sensorscited by 42
  8. 2024Twisting Lids Off with Two Handscited by 36
  9. 2021ReSkin: versatile, replaceable, lasting tactile skinscited by 33
  10. 2021Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projectionscited by 27
  11. 2024DIFFTACTILE: A Physics-based Differentiable Tactile Simulator for Contact-rich Robotic Manipulationcited by 24
  12. 2022Complex In-Hand Manipulation via Compliance-Enabled Finger Gaiting and Multi-Modal Planningcited by 21
  13. 2023Sampling-based Exploration for Reinforcement Learning of Dexterous Manipulationcited by 20
  14. 2024AnyRotate: Gravity-Invariant In-Hand Object Rotation with Sim-to-Real Touchcited by 18
  15. 2018Dense Tactile Force Distribution Estimation using GelSlim and inverse FEMcited by 17
  16. 2022Tactile Gym 2.0: Sim-to-real Deep Reinforcement Learning for Comparing Low-cost High-Resolution Robot Touchcited by 17
  17. 2019Ground truth force distribution for learning-based tactile sensing: a finite element approachcited by 8
  18. 2023Tacchi: A Pluggable and Low Computational Cost Elastomer Deformation Simulator for Optical Tactile Sensorscited by 7
  19. 2023TacIPC: Intersection- and Inversion-free FEM-based Elastomer Simulation For Optical Tactile Sensorscited by 5
  20. 2024Dynamic On-Palm Manipulation via Controlled Slidingcited by 3

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 1; 2025: 6; 2026: 6.

13 papers.

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  1. 2024AnySkin: Plug-and-play Skin Sensing for Robotic Touchcited by 22
  2. 2025What Matters for Batch Online Reinforcement Learning in Robotics?cited by 14
  3. 2025VT-Refine: Learning Bimanual Assembly with Visuo-Tactile Feedback via Simulation Fine-Tuningcited by 10
  4. 2025From Simple to Complex Skills: The Case of In-Hand Object Reorientationcited by 8
  5. 2025Simultaneous Tactile-Visual Perception for Learning Multimodal Robot Manipulationcited by 6
  6. 2025eFlesh: Highly customizable Magnetic Touch Sensing using Cut-Cell Microstructurescited by 4
  7. 2025TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Modelcited by 4
  8. 2026HydroShear: Hydroelastic Shear Simulation for Tactile Sim-to-Real Reinforcement Learningcited by 3
  9. 2026UniCross: Unified Cross-Skill Dexterous Manipulation Synthesiscited by 1
  10. 2026Beyond Binary: Sim-to-Real Dexterous Manipulation with Physics-Grounded Contact Representationcited by 0
  11. 2026Mana: Dexterous Manipulation of Articulated Toolscited by 0
  12. 2026NoContactNoWorries: Estimating Contact through Vision and Proprioception for In-Hand Dexterous Manipulationcited by 0
1 more
  1. 2026WM-Craftnet: World Synesthesia Model for Generalizable and Robust Dexterous In-Hand Manipulationcited by 0