Play2Perfect: What Matters in Dexterous Play Pretraining for Precise Assembly?

Evidence notes

• Play2Perfect first trains a dexterous hand on diverse free-space object play, then fine-tunes the reusable grasping, reorientation, and pose-reaching prior on exact assembly tasks.
• The authors report 33-times better sample efficiency than training from scratch, plus zero-shot sim-to-real success of 60% on 0.5 mm-clearance insertion and over 50% on multi-part assembly and screwing.