Taccel: Scaling Up Vision-based Tactile Robotics via High-performance GPU Simulation - Li, Yuyang; Du, Wenxin; Yu, Chang; Li, Puhao; Zhao, Zihang; Liu, Tengyu; Jiang, Chenfanfu; Zhu, Yixin; Huang, Siyuan (Advances in Neural Information Processing Systems, 2025)