Exploiting Policy Idling for Dexterous Manipulation - 2025-08-21 - Research Publication - The authors train with action chunking [1], using a training chunk length of 50 and open loop execution of 20 steps during evaluation. These hyperparameters were chosen based on preliminary experiments, were held constant… - source: arxiv.org
ExoStart: Efficient learning for dexterous manipulation with sensorized exoskeleton demonstrations - 2025-06-13 - Research Publication - The authors present ExoStart, a general and scalable learning frame- work that leverages human dexterity to improve robotic hand control. The authors build an exoskeleton for the Shadow DEX-EE hand [43]. The reported… - source: arxiv.org
DemoStart: Demonstration-led auto-curriculum applied to sim-to-real with multi-fingered robots - 2024-09-10 - Research Publication - The authors include photorealistic im- ages rendered with Filament [42] for the plug insertion task. The first row of Figure 2 shows an example image. - source: arxiv.org