Taccel: 高性能GPUシミュレーションによる視覚ベース触覚ロボティクスのスケールアップ
Taccel: Scaling Up Vision-based Tactile Robotics via High-performance GPU Simulation
視覚ベース触覚センサ(VBTS)を高精度かつ高速にシミュレーションするGPUプラットフォームTaccelを提案し、実時間の18倍の速度で数千並列環境を実現、sim-to-real転移も検証した。
著者: Yuyang Li, Wenxin Du, Chang Yu, Puhao Li, Zihang Zhao, Tengyu Liu, Chenfanfu Jiang, Yixin Zhu, Siyuan Huang
分類: cs.RO, cs.CV
原文アブストラクト
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.
