A transformer policy distilled from a privileged RL teacher enables 3.1x faster real-world cube rotation on the ORCA hand using solely joint sensor data by extracting implicit object state from temporal joint patterns.
Hands for dexterous manipulation and robust grasping: A difficult road toward simplicity,
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Learning Robust Dexterous In-Hand Manipulation from Joint Sensors with Proprioceptive Transformer
A transformer policy distilled from a privileged RL teacher enables 3.1x faster real-world cube rotation on the ORCA hand using solely joint sensor data by extracting implicit object state from temporal joint patterns.