Framework generates force-informed sim data from one demo to train compliant visuomotor flow matching policies, showing reliable contact on real-robot block flipping and bi-manual tasks.
Dexpoint: Gener- alizable point cloud reinforcement learning for sim-to-real dexterous manipulation,
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Flow with the Force Field: Learning 3D Compliant Flow Matching Policies from Force and Demonstration-Guided Simulation Data
Framework generates force-informed sim data from one demo to train compliant visuomotor flow matching policies, showing reliable contact on real-robot block flipping and bi-manual tasks.