mlsanityData to 7 Oct 2026

Taccel: Scaling Up Vision-based Tactile Robotics via High-performance GPU Simulation

arXiv 2504.12908 ↗First posted 17 Apr 2025cs.RO cs.CVcited by 6

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Abstract (arXiv)

Tactile sensing is crucial for achieving human-level robotic capabilities in manipulation tasks. As a promising solution, Vision-Based Tactile Sensors (VBTSs) offer high spatial resolution and cost-effectiveness, but present unique challenges in robotics for their complex physical characteristics and visual signal processing requirements. The lack of efficient and accurate simulation tools for VBTSs has significantly limited the scale and scope of tactile robotics research. We present Taccel, a high-performance simulation platform that integrates IPC and ABD to model robots, tactile sensors, and objects with both accuracy and unprecedented speed, achieving an 18-fold acceleration over real-time across thousands of parallel environments. Unlike previous simulators that operate at sub-real-time speeds with limited parallelization, Taccel provides precise physics simulation and realistic tactile signals while supporting flexible robot-sensor configurations through user-friendly APIs. Through extensive validation in object recognition, robotic grasping, and articulated object manipulation, we demonstrate precise simulation and successful sim-to-real transfer. These capabilities position Taccel as a powerful tool for scaling up tactile robotics research and development, potentially transforming how robots interact with and understand their physical environment.

Key facts. Cited by 6 papers in the map (data through 7 Oct 2026). Builds on 36 of its 69 references that are in the map. First posted on arXiv 17 Apr 2025.

Builds on

36 of 69 references.

References · 36

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  2. 2021Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learningcited by 882
  3. 2020SAPIEN: A SimulAted Part-based Interactive ENvironmentcited by 584
  4. 2017Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metricscited by 259
  5. 2024ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AIcited by 216
  6. 2019ContactDB: Analyzing and Predicting Grasp Contact via Thermal Imagingcited by 145
  7. 2018More Than a Feeling: Learning to Grasp and Regrasp using Vision and Touchcited by 100
  8. 2018ChainQueen: A Real-Time Differentiable Physical Simulator for Soft Roboticscited by 98
  9. 2021Synthesizing Diverse and Physically Stable Grasps with Arbitrary Hand Structures using Differentiable Force Closure Estimatorcited by 70
  10. 2020Dark, Beyond Deep: A Paradigm Shift to Cognitive AI with Humanlike Common Sensecited by 62
  11. 2020TACTO: A Fast, Flexible, and Open-source Simulator for High-Resolution Vision-based Tactile Sensorscited by 59
  12. 2022GenDexGrasp: Generalizable Dexterous Graspingcited by 54
24 more
  1. 2019Cable Manipulation with a Tactile-Reactive Grippercited by 44
  2. 2021Taxim: An Example-based Simulation Model for GelSight Tactile Sensorscited by 42
  3. 2017Improved GelSight Tactile Sensor for Measuring Geometry and Slipcited by 27
  4. 2024DIFFTACTILE: A Physics-based Differentiable Tactile Simulator for Contact-rich Robotic Manipulationcited by 24
  5. 2020Tactile Dexterity: Manipulation Primitives with Tactile Feedbackcited by 21
  6. 2024TacSL: A Library for Visuotactile Sensor Simulation and Learningcited by 21
  7. 2023Grasp Multiple Objects with One Handcited by 18
  8. 20239DTact: A Compact Vision-Based Tactile Sensor for Accurate 3D Shape Reconstruction and Generalizable 6D Force Estimationcited by 16
  9. 2021Generation of GelSight Tactile Images for Sim2Real Learningcited by 14
  10. 2022Tac2Pose: Tactile Object Pose Estimation from the First Touchcited by 14
  11. 2023Visual-Tactile Sensing for In-Hand Object Reconstructioncited by 13
  12. 2024Tac-Man: Tactile-Informed Prior-Free Manipulation of Articulated Objectscited by 9
  13. 2024Dynamic Reconstruction of Hand-Object Interaction with Distributed Force-aware Contact Representationcited by 8
  14. 2024Embedding high-resolution touch across robotic hands enables adaptive human-like graspingcited by 8
  15. 2023Tacchi: A Pluggable and Low Computational Cost Elastomer Deformation Simulator for Optical Tactile Sensorscited by 7
  16. 2023Exploiting Kinematic Redundancy for Robotic Grasping of Multiple Objectscited by 7
  17. 2022Understanding Dynamic Tactile Sensing for Liquid Property Estimationcited by 6
  18. 2023TacIPC: Intersection- and Inversion-free FEM-based Elastomer Simulation For Optical Tactile Sensorscited by 5
  19. 2023Pose and shear-based tactile servoingcited by 4
  20. 2024TEXterity: Tactile Extrinsic deXteritycited by 4
  21. 2024EasyCalib: Simple and Low-Cost In-Situ Calibration for Force Reconstruction with Vision-Based Tactile Sensorscited by 3
  22. 2024MiniTac: An Ultra-Compact 8 mm Vision-Based Tactile Sensor for Enhanced Palpation in Robot-Assisted Minimally Invasive Surgerycited by 3
  23. 2023Estimating Properties of Solid Particles Inside Container Using Touch Sensingcited by 2
  24. 2025DoorBot: Closed-Loop Task Planning and Manipulation for Door Opening in the Wild with Haptic Feedbackcited by 2

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2025: 3; 2026: 3.

6 papers.

  1. 2025A Survey of Robotic Navigation and Manipulation with Physics Simulators in the Era of Embodied AIcited by 16
  2. 2025Simultaneous Tactile-Visual Perception for Learning Multimodal Robot Manipulationcited by 6
  3. 2026Data Pyramid for Embodied Manipulation: A Surveycited by 4
  4. 2026TacCoRL: Integrating Tactile Feedback into VLA via Simulationcited by 3
  5. 2026Blind Dexterous Grasping via Real2Sim2Real Tactile Policy Learningcited by 3
  6. 2025ControlTac: Scaling Tactile Data with Physically Controlled Tactile Image Generationcited by 0