AINeutralarXiv – CS AI · 3h ago6/10
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Beyond Binary: Sim-to-Real Dexterous Manipulation with Physics-Grounded Contact Representation
Researchers introduce Center-of-Pressure (CoP), a physics-grounded tactile representation that enables robots to perform complex contact-rich manipulation tasks through sim-to-real transfer learning. The method preserves dense touch sensor information while remaining robust across simulation-to-reality gaps, demonstrating zero-shot transfer on dexterous hand tasks like peg insertion and ball balancing.