A hierarchical tactile-aware policy combines human-demonstration training for contact cue prediction with sim-to-real reinforcement learning to improve quadrupedal loco-manipulation performance by 28.54% over vision baselines on contact-rich tasks.
Visual-tactile pretraining and online multitask learning for humanlike manipulation dexterity
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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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Learning Tactile-Aware Quadrupedal Loco-Manipulation Policies
A hierarchical tactile-aware policy combines human-demonstration training for contact cue prediction with sim-to-real reinforcement learning to improve quadrupedal loco-manipulation performance by 28.54% over vision baselines on contact-rich 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.