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arXiv · 2611.08939

RevoSim: Scalable Multimodal Tactile Simulation for Dexterous Manipulation

Ke Zhang·Lixin Xu·Ziyi Wang·Xiyue Dong·Jie Tan·Lianghu Shao·Xianpeng Wang·Chuanyu Li·Renjing Xu
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Abstract

We present RevoSim, a scalable and high-fidelity multimodal tactile simulator for the BrainCo Revo3 hand that jointly models 285 piezoresistive taxels and five visuotactile fingertips. RevoSim efficiently generates synchronized pressure, depth, RGB, and marker-displacement observations; on a single RTX 5090, its depth-conditioned marker-displacement configuration supports up to 4,096 parallel environments. We train in-hand manipulation and grasping policies entirely in simulation, establishing a foundation for future sim-to-real transfer. Project page: https://braincotech.github.io/RevoSim-web/.

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Ke Zhang, Lixin Xu, Ziyi Wang, Xiyue Dong, Jie Tan, Lianghu Shao, Xianpeng Wang, Chuanyu Li, Renjing Xu. 2026-11-06. RevoSim: Scalable Multimodal Tactile Simulation for Dexterous Manipulation. https://arxiv.org/abs/2611.08939

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