Taccel: Scaling-up Vision-based Tactile Robotics with High-performance GPU Simulation

Yuyang Li^1,3,4,5,*, Wenxin Du^2,*, Chang Yu^2,*, Puhao Li^3,4, Zihang Zhao^1,4,5, Tengyu Liu^3,4, Chenfanfu Jiang^2,†, Yixin Zhu^1,4,5,6,†, Siyuan Huang^3,4,†

¹ Peking University<br> ² University of California, Los Angeles<br> ³ Beijing Institute for General AI<br> ⁴ State Key Lab of General AI<br> ⁵ Beijing Key Laboratory of Behavior and Mental Health, Peking University<br> ⁶ Embodied Intelligence Lab, PKU-Wuhan Institute for Artificial Intelligence

^* Equal Contributor ^† Corresponding Author

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If you use Taccel in your research, please use the following citation:

@article{li2025taccel,
  title={Taccel: Scaling Up Vision-based Tactile Robotics via High-performance GPU Simulation},
  author={Li, Yuyang and Du, Wenxin and Yu, Chang and Li, Puhao and Zhao, Zihang and Liu, Tengyu and Jiang, Chenfanfu and Zhu, Yixin and Huang, Siyuan},
  journal={arXiv preprint arXiv:2504.12908},
  year={2025}
}