A hierarchical tactile-aware policy trained from human demos and sim RL improves real quadrupedal loco-manipulation by 28.54% on average over vision-only and visuotactile baselines.
Tacsl: A library for visuotactile sensor simulation and learning
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Learning Tactile-Aware Quadrupedal Loco-Manipulation Policies
A hierarchical tactile-aware policy trained from human demos and sim RL improves real quadrupedal loco-manipulation by 28.54% on average over vision-only and visuotactile baselines.
- PTLD: Sim-to-real Privileged Tactile Latent Distillation for Dexterous Manipulation