Factorized Tactile Representation and Control for Sim-to-Real Manipulation

arXiv:2610.10510 · cs.RO · Submitted 2026-10-07 · Read on arXiv

cs.RO

Submitted: 2026-10-07

Updated: 2026-10-07

Terminology

• Alignment — 12× in this paper · explained in 1 episode
• Ablation — 6× in this paper · explained in 1 episode
• Actor — 5× in this paper · explained in 3 episodes
• Reinforcement Learning — 5× in this paper · explained in 4 episodes
• Sim-to-Real Transfer — 4× in this paper · explained in 2 episodes
• Aggregation — 3× in this paper · explained in 1 episode
• Calibration — 3× in this paper · explained in 7 episodes
• Generalization — 3× in this paper · explained in 13 episodes
• Abstraction — 2× in this paper · explained in 1 episode
• Digital Twin — 2× in this paper · explained in 5 episodes
• Reconstruction Error — 2× in this paper · explained in 2 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• Adam — 1× in this paper · explained in 2 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Embeddings — 1× in this paper · explained in 2 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Synthetic Data Generation — 1× in this paper · explained in 5 episodes
• System Identification — 1× in this paper · explained in 3 episodes
• Zero-Shot Transfer — 1× in this paper · explained in 4 episodes

Sources

• DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset
• Beyond Binary: Sim-to-Real Dexterous Manipulation with Physics-Grounded Contact Representation
• Proximal Policy Optimization Algorithms

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