A predictive model of human hand motion, trained on human interaction data, can reward a robot policy for tracking predicted future keypoints and enable learning of dexterous manipulation from sparse rewards.
Reconstructing hands in 3D with transformers,
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Deep Sensorimotor Control by Imitating Predictive Models of Human Motion
A predictive model of human hand motion, trained on human interaction data, can reward a robot policy for tracking predicted future keypoints and enable learning of dexterous manipulation from sparse rewards.