Blind Robot Hand Spins Baoding Balls 225 Times With Only Touch
Scobleizer · x · 2026-10-28
Aayush Deshmukh and colleagues present "No Eyes, No Problem": a Shadow Dexterous Hand Lite trained in simulation performs blind Baoding ball rotation with zero-shot transfer to real hardware — no vision, no depth, no motion capture, just proprioception and 16 binary tactile signals. The policy sustained 225 consecutive 180° rotations (112.5 full turns, 0.36 rot/s) in a single trial. Transfer relied on sensor-aligned coupling-aware embodiment, tactile calibration, and two novel domain randomizations (slew-rate action limits and STuck-AT Taxels). The paper also quantifies where tactile sensing matters most relative to proprioception alone.
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