PTLD distills real privileged tactile data into a state estimator to boost sim-to-real performance of proprioceptive dexterous manipulation policies, yielding 182% improvement on in-hand rotation and 57% on reorientation tasks.
In-Hand Object Rotation via Rapid Motor Adaptation,
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PTLD: Sim-to-real Privileged Tactile Latent Distillation for Dexterous Manipulation
PTLD distills real privileged tactile data into a state estimator to boost sim-to-real performance of proprioceptive dexterous manipulation policies, yielding 182% improvement on in-hand rotation and 57% on reorientation tasks.