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

Yuyang Li^{1,2 *}, Wenxin Du^{3 *}, Chang Yu^{3 *}, Puhao Li², Zihang Zhao¹, Tengyu Liu², Chenfanfu Jiang^{3 †}, Yixin Zhu^{1 †}, Siyuan Huang^{2 †}

¹ Institute for AI, PKU ² State Key Lab of General AI, BIGAI ³ AIVC Lab, UCLA

^* 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}
}