HANDFUL learns resource-aware grasps using finger contact rewards and curriculum learning to improve success on sequential dexterous tasks in simulation and on a real LEAP hand.
DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-scale Synthetic Cluttered Scenes,
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HANDFUL: Sequential Grasp-Conditioned Dexterous Manipulation with Resource Awareness
HANDFUL learns resource-aware grasps using finger contact rewards and curriculum learning to improve success on sequential dexterous tasks in simulation and on a real LEAP hand.