A simulation-grounded state policy using 3D particle dynamics outperforms an egocentric vision policy by 30.8% in L1 error on unseen rope configurations for bimanual manipulation from limited human data.
Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies,
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Learning Sim-Grounded Policies for Bimanual Rope Manipulation from Human Teleoperation Data
A simulation-grounded state policy using 3D particle dynamics outperforms an egocentric vision policy by 30.8% in L1 error on unseen rope configurations for bimanual manipulation from limited human data.