SYMDEX decomposes bimanual tasks into per-hand equivariant policies and distills them into an ambidextrous policy, achieving strong results on six simulated tasks and two real-world deployments.
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Morphologically Symmetric Reinforcement Learning for Ambidextrous Bimanual Manipulation
SYMDEX decomposes bimanual tasks into per-hand equivariant policies and distills them into an ambidextrous policy, achieving strong results on six simulated tasks and two real-world deployments.