peg-in-hole insertion task

Beyond Binary: Sim-to-Real Dexterous Manipulation with Physics-Grounded Contact Representation (CoP)

Researchers introduce Center-of-Pressure (CoP), a tactile representation grounded in physical principles designed to bridge the sim-to-real gap in contact-rich dexterous manipulation. CoP preserves dense contact information while remaining robust for sim-to-real transfer, supported by a differentiable-dynamics-based sensor calibration scheme that estimates taxel orientations without ground-truth force measurements. Evaluated on peg-in-hole insertion and ball balancing tasks, CoP-conditioned policies achieve zero-shot sim-to-real transfer on a multi-fingered robotic hand, outperforming binary-contact and raw-taxel baselines. An emergent finding is that CoP-conditioned policies implicitly encode task-relevant physical properties such as object mass.