A framework using 3D Gaussian Splatting for visual domain randomization enables robust monocular RGB-based dexterous in-hand reorientation on real hardware for multiple objects under varied lighting.
The network receives120×120 pixel RGB images, which are normalized and upsampled to 224×224pixels to align with the backbone’s input size
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ViserDex: Visual Sim-to-Real for Robust Dexterous In-hand Reorientation
A framework using 3D Gaussian Splatting for visual domain randomization enables robust monocular RGB-based dexterous in-hand reorientation on real hardware for multiple objects under varied lighting.