A Sim2Real2Sim learning pipeline enables a real-world dexterous robot to play piano pieces including Happy Birthday and Ode to Joy with an average F1-score of 0.881.
TACTO: A fast, flexible, and open- source simulator for high-resolution vision-based tactile sensors.IEEE Robotics and Automation Letters (RA- L), 7(2):3930–3937
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Tabero supplies a data pipeline that turns existing robot trajectories into vision-tactile-language tasks and a VTLA model that keeps task success high while cutting average grip force by over 70 percent under gentle instructions.
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Learning to Play Piano in the Real World
A Sim2Real2Sim learning pipeline enables a real-world dexterous robot to play piano pieces including Happy Birthday and Ode to Joy with an average F1-score of 0.881.
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Tabero: Learning Gentle Manipulation with Closed-Loop Force Feedback from Vision, Touch, and Language
Tabero supplies a data pipeline that turns existing robot trajectories into vision-tactile-language tasks and a VTLA model that keeps task success high while cutting average grip force by over 70 percent under gentle instructions.