EgoEngine transforms egocentric human videos into high-fidelity robot data enabling zero-shot visuomotor dexterous policy learning without real-robot demonstrations.
arXiv preprint arXiv:2309.00987 , year=
6 Pith papers cite this work. Polarity classification is still indexing.
6
Pith papers citing it
abstract
Many real-world manipulation tasks consist of a series of subtasks that are significantly different from one another. Such long-horizon, complex tasks highlight the potential of dexterous hands, which possess adaptability and versatility, capable of seamlessly transitioning between different modes of functionality without the need for re-grasping or external tools. However, the challenges arise due to the high-dimensional action space of dexterous hand and complex compositional dynamics of the long-horizon tasks. We present Sequential Dexterity, a general system based on reinforcement learning (RL) that chains multiple dexterous policies for achieving long-horizon task goals. The core of the system is a transition feasibility function that progressively finetunes the sub-policies for enhancing chaining success rate, while also enables autonomous policy-switching for recovery from failures and bypassing redundant stages. Despite being trained only in simulation with a few task objects, our system demonstrates generalization capability to novel object shapes and is able to zero-shot transfer to a real-world robot equipped with a dexterous hand. Code and videos are available at https://sequential-dexterity.github.io
representative citing papers
Wrist-guided whole-body RL retargets human–object interactions without finger pose supervision, matching supervised methods and generalizing across hand morphologies in simulation.
Task-agnostic RL play pretraining on diverse objects yields a reusable dexterous prior that makes sparse-reward assembly learning ~33× more sample-efficient and enables zero-shot sim-to-real transfer on tight insertions and multi-part tasks.
LEO enables efficient all-goals learning in goal-conditioned RL by jointly predicting for all goals in one network pass, yielding >250x speedup over relabelling and better performance on Craftax.
SOL is a new hierarchical RL algorithm that reaches 35x higher throughput and outperforms flat agents when trained on 30 billion frames in NetHack while showing positive scaling.
DPPO fine-tunes diffusion policies via policy gradients and outperforms prior RL approaches for diffusion policies and PG-tuned alternatives on robot benchmarks while enabling stable training and hardware deployment.
citing papers explorer
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EgoEngine: From Egocentric Human Videos to High-Fidelity Dexterous Robot Demonstrations
EgoEngine transforms egocentric human videos into high-fidelity robot data enabling zero-shot visuomotor dexterous policy learning without real-robot demonstrations.
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WristMimic: Full-Body Humanoid Control with Wrist-Guided Manipulation
Wrist-guided whole-body RL retargets human–object interactions without finger pose supervision, matching supervised methods and generalizing across hand morphologies in simulation.
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Play2Perfect: What Matters in Dexterous Play Pretraining for Precise Assembly?
Task-agnostic RL play pretraining on diverse objects yields a reusable dexterous prior that makes sparse-reward assembly learning ~33× more sample-efficient and enables zero-shot sim-to-real transfer on tight insertions and multi-part tasks.
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Goal-Conditioned Agents that Learn Everything All at Once
LEO enables efficient all-goals learning in goal-conditioned RL by jointly predicting for all goals in one network pass, yielding >250x speedup over relabelling and better performance on Craftax.
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Scalable Option Learning in High-Throughput Environments
SOL is a new hierarchical RL algorithm that reaches 35x higher throughput and outperforms flat agents when trained on 30 billion frames in NetHack while showing positive scaling.
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Diffusion Policy Policy Optimization
DPPO fine-tunes diffusion policies via policy gradients and outperforms prior RL approaches for diffusion policies and PG-tuned alternatives on robot benchmarks while enabling stable training and hardware deployment.