# 没有眼睛也没问题：触觉对盲式保定球操控有何贡献？

> 原文链接：https://robotics.hellobike.com/papers/2026-10-16-2610-23438
> 频道：papers | 更新日期：2026-10-16 | 标签：arxiv, cs.RO
> 核心摘要：研究无视觉持续保定球操控，结合传感器对齐仿真、触觉校准和域随机化，在Shadow Dexterous Hand Lite真机上验证零样本迁移并分析触觉作用。

# 没有眼睛也没问题：触觉对盲式保定球操控有何贡献？

::: v-pre
> 原文链接：[No Eyes, No Problem: What Does Touch Contribute to Blind Baoding Ball Manipulation?](https://arxiv.org/abs/2610.23438)（arXiv 2610.23438 · 发布日期：2026-10-16）

**No Eyes, No Problem: What Does Touch Contribute to Blind Baoding Ball Manipulation?**

研究无视觉持续保定球操控，结合传感器对齐仿真、触觉校准和域随机化，在Shadow Dexterous Hand Lite真机上验证零样本迁移并分析触觉作用。

## 核心要点

- 无视觉持续灵巧操控仍具挑战，仿真RL到真手受接触变化、触觉漂移和动力学差距阻碍。
- 仅用本体感知和二值触觉，结合传感器对齐、考虑耦合的仿真实体与触觉校准。
- 提出两种按回合域随机化：动作变化率限制和STuck-AT Taxels，以促进零样本迁移。
- 真机单次连续试验完成225次180°旋转，并评估触觉相对仅本体感知的贡献与关键手部区域。

**验证范围与局限**：验证限于Shadow Dexterous Hand Lite真机上的保定球旋转任务，观察为本体感知和二值触觉。

## 英文摘要 (Abstract)

Humans manipulate objects within their hands through touch alone with remarkable ease, but for robots, achieving sustained real-world manipulation without vision remains an open challenge. Although reinforcement learning (RL) can generate sophisticated blind manipulation policies in simulation, transferring them to a real dexterous hand remains hindered by continuously changing contacts, motion-induced tactile information drift, and the gap between simulated and physical dynamics. We study this problem through Baoding ball rotation on the Shadow Dexterous Hand Lite, using only proprioception and binary tactile feedback as observations. We achieve successful zero-shot transfer through a combination of a sensor-aligned, coupling-aware embodiment in simulation, tactile calibration, and two novel episodic domain randomisations: slew-rate action limits and STuck-AT Taxels. On the physical hand, the policy achieves sustained blind Baoding rotation, completing 225 consecutive $\mathbf{180^\circ}$ rotations (112.5 full rotations) at $\sim0.36 \;\text{rot/s}$ in a single continuous trial without any vision or object-state information. Furthermore, we evaluate the contribution of tactile sensing relative to proprioception alone and identify the hand regions where tactile information is most important. This is the strongest reported hardware result for Baoding ball manipulation in both rotation count and speed, irrespective of the sensing modality used. By effectively bridging the sim-to-real gap, our framework sets a new benchmark for sustained tactile-driven dexterous manipulation on physical hardware.

作者：Ayush Deshmukh, Nalin Agarwal, Elle Miller, Sethu Vijayakumar
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## 原始参考来源 (Sources)

- [arXiv 2610.23438：No Eyes, No Problem: What Does Touch Contribute to Blind Baoding Ball Manipulation?](https://arxiv.org/abs/2610.23438)