Author

Adam Rashid

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Preprint Aug 2026

Pre-training Visual Dexterity in Simulation

Simulation Pre-training for Dexterity (SPD) is introduced, a pre-training framework for dexterous manipulation that uses data entirely collected in simulation and outperforms training behavior cloning policies from scratch, showing that simulation teleoperation is a viable pre-training source for real-world dexterous m...

Sarthak Kamat, Adam Rashid, Satvik Sharma et al. · 0 citations

Jun 2026

Scalable Behavior Cloning with Open Data, Training, and Evaluation

This work introduces ABC, a fully open-source stack for manipulation with behavior cloning, and offers a co-training recipe that produces correlated simulation and real-world evaluation, offering a reliable proxy for ablating model-design and training decisions before costly real-world evaluation.

Arthur Allshire, Himanshu Gaurav Singh, Ritvik Singh et al. · arXiv.org · 4 citations