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.
Visual dexterity: In-hand reorientation of novel and complex object shapes,
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The paper introduces micro-dexterity as a framework for biological micromanipulation by reformulating classical primitives in fluidic, surface-dominated micro-environments and comparing contact-based, field-mediated, and multi-agent architectures.
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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.
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Micro-Dexterity in Biological Micromanipulation: Embodiment, Perception, and Control
The paper introduces micro-dexterity as a framework for biological micromanipulation by reformulating classical primitives in fluidic, surface-dominated micro-environments and comparing contact-based, field-mediated, and multi-agent architectures.