Taccel让触觉机器人仿真提速18倍，支持上千并发环境。
Taccel: Scaling Up Vision-based Tactile Robotics via High-performance GPU Simulation
- 用IPC与ABD结合实现高精度物理与触觉信号模拟
- 在数千并行环境中实现18倍于实时的仿真速度
- 适合做触觉感知、抓取等机器人研究的开发者
触觉感知对实现人类级操作能力至关重要。视觉触觉传感器（VBTS）具有高空间分辨率和低成本优势，但因其复杂的物理特性与视觉信号处理需求，给机器人研究带来挑战。现有仿真工具效率低、并行性差，严重限制了触觉机器人研究的规模。本文提出Taccel，一个高性能仿真平台，集成IPC与ABD，可精准模拟机器人、触觉传感器与物体，实现跨数千并行环境的18倍于实时的仿真速度。相比以往仅以亚实时速度运行且并行度有限的仿真器，Taccel在保持精确物理模拟和真实触觉信号的同时，通过友好API支持灵活的机器人-传感器配置。在物体识别、机器人抓取和刚体操作任务中，我们验证了其仿真精度及成功的模拟到现实迁移能力。Taccel为触觉机器人研究的规模化提供了强大工具，有望改变机器人理解与交互物理世界的方式。
原文摘要 · Abstract (English)
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.
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