Learning Dexterous Manipulation from Exemplar Object Trajectories and Pre-Grasps
Sudeep Dasari,Abhinav Gupta,Vikash Kumar,Sudeep Dasari,Abhinav Gupta,Vikash Kumar
Learning diverse dexterous manipulation behaviors with assorted objects remains an open grand challenge. While policy learning methods offer a powerful avenue to attack this problem, these approaches require extensive per-task engineering and algorithmic tuning. This paper seeks to escape these constraints, by developing a Pre-Grasp informed Dexterous Manipulation (PGDM) framework that generates d...
