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.
Dextreme: Transfer of agile in-hand manipulation from simulation to reality
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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.