PneuTac: Tactile Manipulation with Soft Pneumatic Robots via Unified MPM-Gaussian Splatting Simulation
PneuTac is a unified framework for controlling soft pneumatic robots using tactile feedback. It combines Material Point Method (MPM) for simulating robot dynamics and 3D Gaussian Splatting (3DGS) for rendering. This allows researchers to create accurate, fast simulations from real-world data, enabling efficient policy learning and improving manipulation performance on compliant hardware.