A two-stage pipeline that initializes dexterous-manipulation RL from a prior grasp pose on the object's functional part, cutting training time by up to 150x in simulation.
Dexterous im- itation made easy: A learning-based framework for efficient dexterous manipulation
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Dexterous Manipulation Based on Prior Dexterous Grasp Pose Knowledge
A two-stage pipeline that initializes dexterous-manipulation RL from a prior grasp pose on the object's functional part, cutting training time by up to 150x in simulation.