A vision-based dexterous grasping policy trained on RL-generated simulated trajectories mixed with 40 real demonstrations achieves 100% real-world success on all tested objects.
Generalized complex structure on certain principal torus bundles
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abstract
A principal torus bundle over a complex manifold with even dimensional fiber and characteristic class of type $(1,1)$ admits a family of regular generalized complex structures (GCS) with the fibers as leaves of the associated symplectic foliation. We show that such a generalized complex structure is equivalent to the product of the complex structure on the base and the symplectic structure on the fiber in a tubular neighborhood of an arbitrary fiber if and only if the bundle is flat. This has consequences for the generalized Dolbeault cohomology of the bundle that includes a K\"{u}nneth formula. On a more general note, if a principal bundle over a complex manifold with a symplectic structure group admits a GCS with the fibers of the bundle as leaves of the associated symplectic foliation, and the GCS is equivalent to a product GCS in a neighborhood of every fiber, then the bundle is flat and symplectic.
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RL-Driven Data Generation for Robust Vision-Based Dexterous Grasping
A vision-based dexterous grasping policy trained on RL-generated simulated trajectories mixed with 40 real demonstrations achieves 100% real-world success on all tested objects.