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.
RoboPianist: Dexterous Piano Playing with Deep Rein- forcement Learning
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PianoFlow generates coordinated bimanual piano motions from audio via MIDI-distilled flow-matching, asymmetric role-gated interaction, and autoregressive streaming continuation, outperforming priors with 9x faster inference.
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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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PianoFlow: Music-Aware Streaming Piano Motion Generation with Bimanual Coordination
PianoFlow generates coordinated bimanual piano motions from audio via MIDI-distilled flow-matching, asymmetric role-gated interaction, and autoregressive streaming continuation, outperforming priors with 9x faster inference.