{"id":"https://openalex.org/W4384518901","doi":"https://doi.org/10.1109/lra.2023.3295991","title":"Bi-Touch: Bimanual Tactile Manipulation With Sim-to-Real Deep Reinforcement Learning","display_name":"Bi-Touch: Bimanual Tactile Manipulation With Sim-to-Real Deep Reinforcement Learning","publication_year":2023,"publication_date":"2023-07-17","ids":{"openalex":"https://openalex.org/W4384518901","doi":"https://doi.org/10.1109/lra.2023.3295991"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3295991","doi":"https://doi.org/10.1109/lra.2023.3295991","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3295991","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","ki-jl-1","norway-1","poland-200","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2307.06423","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5044755774","display_name":"Yijiong Lin","orcid":"https://orcid.org/0000-0002-0063-0905","observed_orcids":["https://orcid.org/0000-0002-0063-0905"]},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yijiong Lin","raw_affiliation_strings":["Department of Engineering Mathematics and Bristol Robotics Laboratory, University of Bristol, Bristol, U.K"],"raw_orcid":"https://orcid.org/0000-0002-0063-0905","affiliations":[{"raw_affiliation_string":"Department of Engineering Mathematics and Bristol Robotics Laboratory, University of Bristol, Bristol, U.K","institution_ids":["https://openalex.org/I36234482","https://openalex.org/I4210161128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053354197","display_name":"Alex Church","orcid":"https://orcid.org/0000-0002-4062-5959","observed_orcids":["https://orcid.org/0000-0002-4062-5959"]},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Alex Church","raw_affiliation_strings":["Department of Engineering Mathematics and Bristol Robotics Laboratory, University of Bristol, Bristol, U.K"],"raw_orcid":"https://orcid.org/0000-0002-4062-5959","affiliations":[{"raw_affiliation_string":"Department of Engineering Mathematics and Bristol Robotics Laboratory, University of Bristol, Bristol, U.K","institution_ids":["https://openalex.org/I36234482","https://openalex.org/I4210161128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018901243","display_name":"Max Yang","orcid":"https://orcid.org/0000-0002-3643-0585","observed_orcids":["https://orcid.org/0000-0002-3643-0585"]},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Max Yang","raw_affiliation_strings":["Department of Engineering Mathematics and Bristol Robotics Laboratory, University of Bristol, Bristol, U.K"],"raw_orcid":"https://orcid.org/0000-0002-3643-0585","affiliations":[{"raw_affiliation_string":"Department of Engineering Mathematics and Bristol Robotics Laboratory, University of Bristol, Bristol, U.K","institution_ids":["https://openalex.org/I36234482","https://openalex.org/I4210161128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021915892","display_name":"Haoran Li","orcid":"https://orcid.org/0000-0001-8815-073X","observed_orcids":["https://orcid.org/0000-0001-8815-073X"]},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Haoran Li","raw_affiliation_strings":["Department of Engineering Mathematics and Bristol Robotics Laboratory, University of Bristol, Bristol, U.K"],"raw_orcid":"https://orcid.org/0000-0001-8815-073X","affiliations":[{"raw_affiliation_string":"Department of Engineering Mathematics and Bristol Robotics Laboratory, University of Bristol, Bristol, U.K","institution_ids":["https://openalex.org/I36234482","https://openalex.org/I4210161128"]}]},{"author_position":"middle","author":{"id":null,"display_name":"John Lloyd","orcid":"https://orcid.org/0000-0002-5630-683X","observed_orcids":["https://orcid.org/0000-0002-5630-683X"]},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"John Lloyd","raw_affiliation_strings":["Department of Engineering Mathematics and Bristol Robotics Laboratory, University of Bristol, Bristol, U.K"],"raw_orcid":"https://orcid.org/0000-0002-5630-683X","affiliations":[{"raw_affiliation_string":"Department of Engineering Mathematics and Bristol Robotics Laboratory, University of Bristol, Bristol, U.K","institution_ids":["https://openalex.org/I36234482","https://openalex.org/I4210161128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100386760","display_name":"Dandan Zhang","orcid":"https://orcid.org/0000-0001-7649-7605","observed_orcids":["https://orcid.org/0000-0001-7649-7605"]},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Dandan Zhang","raw_affiliation_strings":["Department of Engineering Mathematics and Bristol Robotics Laboratory, University of Bristol, Bristol, U.K"],"raw_orcid":"https://orcid.org/0000-0001-7649-7605","affiliations":[{"raw_affiliation_string":"Department of Engineering Mathematics and Bristol Robotics Laboratory, University of Bristol, Bristol, U.K","institution_ids":["https://openalex.org/I36234482","https://openalex.org/I4210161128"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015897265","display_name":"Nathan F. Lepora","orcid":"https://orcid.org/0000-0001-5327-1523","observed_orcids":["https://orcid.org/0000-0001-5327-1523"]},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nathan F. Lepora","raw_affiliation_strings":["Department of Engineering Mathematics and Bristol Robotics Laboratory, University of Bristol, Bristol, U.K"],"raw_orcid":"https://orcid.org/0000-0001-5327-1523","affiliations":[{"raw_affiliation_string":"Department of Engineering Mathematics and Bristol Robotics Laboratory, University of Bristol, Bristol, U.K","institution_ids":["https://openalex.org/I36234482","https://openalex.org/I4210161128"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2345,"currency":"USD","value_usd":2345},"apc_paid":null,"fwci":4.3941,"has_fulltext":true,"cited_by_count":50,"citation_normalized_percentile":{"value":0.95814655,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":88,"max":100},"biblio":{"volume":"8","issue":"9","first_page":"5472","last_page":"5479"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.763700008392334,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.763700008392334,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.23499999940395355,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.0006000000284984708,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/bimanual-manipulation","display_name":"bimanual manipulation","score":0.9940000176429749},{"id":"https://openalex.org/keywords/tactile-feedback","display_name":"tactile feedback","score":0.843999981880188},{"id":"https://openalex.org/keywords/sim-to-real-transfer","display_name":"sim-to-real transfer","score":0.7829999923706055},{"id":"https://openalex.org/keywords/deep-reinforcement-learning","display_name":"deep reinforcement learning","score":0.9480000138282776},{"id":"https://openalex.org/keywords/dual-arm-robot","display_name":"dual-arm robot","score":0.6980000138282776},{"id":"https://openalex.org/keywords/reward-function-design","display_name":"reward function design","score":0.7300000190734863},{"id":"https://openalex.org/keywords/robot-dexterity","display_name":"robot dexterity","score":0.7009999752044678},{"id":"https://openalex.org/keywords/generalization-to-unseen-objects","display_name":"unseen object generalization","score":0.6610000133514404}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7473093271255493},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6724373698234558},{"id":"https://openalex.org/C79581498","wikidata":"https://www.wikidata.org/wiki/Q1367530","display_name":"Suite","level":2,"score":0.6090449094772339},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6060165166854858},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5508485436439514},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5319241285324097},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5268206596374512},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.521192729473114},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4878070652484894},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.48684805631637573},{"id":"https://openalex.org/C27158222","wikidata":"https://www.wikidata.org/wiki/Q5532422","display_name":"Generalizability theory","level":2,"score":0.4746706485748291},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4392380118370056},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3677242696285248},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14303061366081238},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.09509608149528503},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C138496976","wikidata":"https://www.wikidata.org/wiki/Q175002","display_name":"Developmental psychology","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2023.3295991","doi":"https://doi.org/10.1109/lra.2023.3295991","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3295991","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","ki-jl-1","norway-1","poland-200","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2307.06423","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2307.06423","pdf_url":"https://arxiv.org/pdf/2307.06423","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:research-information.bris.ac.uk:openaire/9a349d9b-2d68-4f20-8762-12414a085ed1","doi":null,"is_oa":true,"landing_page_url":"https://research-information.bris.ac.uk/en/publications/9a349d9b-2d68-4f20-8762-12414a085ed1","pdf_url":null,"source":{"id":"https://openalex.org/S4306400895","display_name":"Bristol Research (University of Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I36234482","host_organization_name":"University of Bristol","host_organization_lineage":["https://openalex.org/I36234482"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Lin, Y, Church, A, Yang, M, Li, H, Lloyd, J, Zhang, D & Lepora, N F 2023, 'Bi-Touch : Bimanual Tactile Manipulation with Sim-to-Real Deep Reinforcement Learning', IEEE Robotics and Automation Letters, vol. 8, no. 9, pp. 5472-5479. https://doi.org/10.1109/LRA.2023.3295991","raw_type":"info:eu-repo/semantics/article"},{"id":"doi:10.48550/arxiv.2307.06423","doi":"https://doi.org/10.48550/arxiv.2307.06423","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2307.06423","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2307.06423","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2307.06423","pdf_url":"https://arxiv.org/pdf/2307.06423","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4384518901.pdf","grobid_xml":"https://content.openalex.org/works/W4384518901.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W1996762208","https://openalex.org/W2021314974","https://openalex.org/W2147168033","https://openalex.org/W2552465644","https://openalex.org/W2733961795","https://openalex.org/W2736601468","https://openalex.org/W2775635818","https://openalex.org/W2781493652","https://openalex.org/W2899059606","https://openalex.org/W2905464683","https://openalex.org/W2913871909","https://openalex.org/W2973223114","https://openalex.org/W2990747716","https://openalex.org/W2999786727","https://openalex.org/W3005162594","https://openalex.org/W3012241275","https://openalex.org/W3043921574","https://openalex.org/W3088304681","https://openalex.org/W3106059157","https://openalex.org/W3186174046","https://openalex.org/W4221142340","https://openalex.org/W4285102554","https://openalex.org/W4285232917","https://openalex.org/W4287118130","https://openalex.org/W4292231110","https://openalex.org/W4320167587","https://openalex.org/W6741002519","https://openalex.org/W6782766965","https://openalex.org/W7133185604"],"related_works":["https://openalex.org/W4221142340","https://openalex.org/W4416749095","https://openalex.org/W7204103747","https://openalex.org/W4401417125","https://openalex.org/W4413925671","https://openalex.org/W4392489851","https://openalex.org/W4412079960","https://openalex.org/W7077175478","https://openalex.org/W4365211441","https://openalex.org/W6910771490"],"abstract_inverted_index":{"Bimanual":[0],"manipulation":[1,79],"with":[2,30,39,67,107,119,166,170],"tactile":[3,49,70,83,121],"feedback":[4],"will":[5],"be":[6],"key":[7],"to":[8,23,116,141,150],"human-level":[9],"robot":[10,65],"dexterity.":[11],"However,":[12],"this":[13,162],"topic":[14],"is":[15],"less":[16],"explored":[17],"than":[18],"single-arm":[19],"settings,":[20],"partly":[21],"due":[22,149],"the":[24,31,55,133,137,146,151,157,174],"availability":[25],"of":[26,33,77,161],"suitable":[27],"hardware":[28],"along":[29],"complexity":[32],"designing":[34],"effective":[35,91],"controllers":[36],"for":[37,98],"tasks":[38,80,100],"relatively":[40],"large":[41],"state-action":[42],"spaces.":[43],"Here":[44],"we":[45,93,155],"introduce":[46,94],"a":[47,75,103,120],"dual-arm":[48],"robotic":[50],"system":[51,163],"(Bi-Touch)":[52],"based":[53],"on":[54],"Tactile":[56],"Gym":[57],"2.0":[58],"setup":[59],"that":[60],"integrates":[61],"two":[62],"affordable":[63],"industrial-level":[64],"arms":[66],"low-cost":[68],"high-resolution":[69],"sensors":[71],"(TacTips).":[72],"We":[73,111],"present":[74],"suite":[76],"bimanual":[78],"tailored":[81],"towards":[82],"feedback:":[84],"bi-pushing,":[85],"bi-reorienting,":[86],"and":[87,101,127,159],"bi-gathering.":[88],"To":[89],"learn":[90],"policies,":[92],"appropriate":[95],"reward":[96],"functions":[97],"these":[99,114],"propose":[102],"novel":[104],"goal-update":[105],"mechanism":[106],"deep":[108],"reinforcement":[109],"learning.":[110],"also":[112],"apply":[113],"policies":[115],"real-world":[117],"settings":[118],"sim-to-real":[122,134,152],"approach.":[123],"Our":[124],"analysis":[125],"highlights":[126],"addresses":[128],"some":[129],"challenges":[130],"met":[131],"during":[132],"application,":[135],"e.g.":[136],"learned":[138],"policy":[139],"tended":[140],"squeeze":[142],"an":[143],"object":[144],"in":[145,173],"bi-reorienting":[147],"task":[148],"gap.":[153],"Finally,":[154],"demonstrate":[156],"generalizability":[158],"robustness":[160],"by":[164],"experimenting":[165],"different":[167],"unseen":[168],"objects":[169],"applied":[171],"perturbations":[172],"real":[175],"world.":[176]},"counts_by_year":[{"year":2026,"cited_by_count":15},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":17},{"year":2023,"cited_by_count":1}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2023-07-18T00:00:00"}