HANDFUL learns resource-aware grasps using finger contact rewards and curriculum learning to improve success on sequential dexterous tasks in simulation and on a real LEAP hand.
In our experi- ments, candidates such asπ 1 andπ 8 perform strongly across nearly all tasks, which may reflect broad task compatibility, high grasp stability in this seed, or both
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HANDFUL: Sequential Grasp-Conditioned Dexterous Manipulation with Resource Awareness
HANDFUL learns resource-aware grasps using finger contact rewards and curriculum learning to improve success on sequential dexterous tasks in simulation and on a real LEAP hand.