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About this paper
Ke Zhang, Lixin Xu, Ziyi Wang, Xiyue Dong, Jie Tan, Lianghu Shao, Xianpeng Wang, Chuanyu Li and 1 more
RevoSim simulates both camera-based tactile fingertips and piezoresistive taxels on a Revo3 hand, producing fingertip depth images and distributed pressure readings. It supports simulation-trained ball rotation and object grasping. At 1,024 environments, depth-only use is 9.2 GiB versus TacMap’s 30.6 GiB, about 70% less. Its 4,096-environment marker setting excludes RGB; policy-level sim-to-real transfer remains unevaluated.
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