Closing the Reality Gap: Zero-Shot Sim-to-Real Deployment for Dexterous Force-Based Grasping and Manipulation

Abstract— Human-like dexterous hands with multiple fin- gers offer human-level manipulation capabilities but remain difficult to train the control policies that can deploy on real hardware due to contact-rich physics and imperfect actuation. We present a sim-to-real reinforcement learning that leverages dense tactile feedback combined with joint torque sensing to explicitly regulate physical interactions. To enable effective sim- to-real transfer, we introduce (i) a computationally fast tactile simulation that computes distances between dense virtual tactile units and the object via parallel forward kinematics, providing high-rate, high-resolution touch signals needed by RL; (ii) a current-to-torque calibration that eliminates the need for torque sensors on dexterous hands by mapping motor current to joint torque; and (iii) actuator dynamics modeling with randomization to account for non-ideal torque–speed effects and bridge the actuation gaps. Using an asymmetric actor–critic PPO pipeline, we train policies entirely in simulation and deploy them directly to a five-finger hand. The resulting policies demonstrated two essential human-hand skills: (1) command- based controllable grasp force tracking and (2) reorientation of objects in the hand, both of which were robustly executed without fine-tuning on the robot. By combining tactile and torque in the observation space with scalable sensing/actuation modeling, our system provides a practical solution to achieve reliable dexterous manipulation. To our knowledge, this is the first demonstration of controllable grasping on a multi-finger dexterous hand trained entirely in simulation and transferred zero-shot on real hardware.