A Sim2Real2Sim learning pipeline enables a real-world dexterous robot to play piano pieces including Happy Birthday and Ode to Joy with an average F1-score of 0.881.
DeX- treme: Transfer of Agile In-hand Manipulation from Simulation to Reality
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MimicGen creates over 50K robot demonstrations from roughly 200 human ones, allowing imitation learning to achieve strong performance on complex long-horizon tasks like assembly and coffee preparation.
citing papers explorer
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Learning to Play Piano in the Real World
A Sim2Real2Sim learning pipeline enables a real-world dexterous robot to play piano pieces including Happy Birthday and Ode to Joy with an average F1-score of 0.881.
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MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations
MimicGen creates over 50K robot demonstrations from roughly 200 human ones, allowing imitation learning to achieve strong performance on complex long-horizon tasks like assembly and coffee preparation.