ETac is a data-driven tactile simulation framework that matches FEM deformation accuracy at high speed, supporting 4096 parallel environments at 869 FPS and yielding 84.45% success in blind grasping across four object types.
Gelsight svelte hand: A three-finger, two-dof, tactile-rich, low-cost robot hand for dexterous manipulation
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ETac: A Lightweight and Efficient Tactile Simulation Framework for Learning Dexterous Manipulation
ETac is a data-driven tactile simulation framework that matches FEM deformation accuracy at high speed, supporting 4096 parallel environments at 869 FPS and yielding 84.45% success in blind grasping across four object types.