DexFuture reaches 90% of oracle performance on bimanual tool-use tasks at 60 Hz by using a horizon-conditioned transformer to predict future visuomotor targets and a per-link policy to track them.
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DexFuture: Hierarchical Future-State Visuomotor Targeting for Bimanual Dexterous Tool Use
DexFuture reaches 90% of oracle performance on bimanual tool-use tasks at 60 Hz by using a horizon-conditioned transformer to predict future visuomotor targets and a per-link policy to track them.