Akash Sharma on X: “Our core idea is to train policies in sim with privileged sensors info…”

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Akash Sharma on X: “Our core idea is to train policies in sim with privileged sensors info…” | PeekX

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Akash Sharma

@akashshrm02

Jul 11

Presenting PTLD: an approach to learning tactile dexterous policies without ever simulating the tactile sensor.

Tactile is essential for performing highly dexterous manipulation. However, collecting tactile observations reliably has been a fundamental bottleneck: (1)

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Akash Sharma

@akashshrm02

Replying to @akashshrm02

Our core idea is to train policies in sim with privileged sensors information that can be measured in an instrumented setup, but not available on a deployed robot.

In this case, we use object pose as our privileged sensor. It’s freely available in sim; in the real world we can

Jul 11, 2026, 5:58 PM UTC

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