ADEPT: Accelerating Dexterity via Pre-Training and Post-Training using Reinforcement Learning
We introduce Accelerating Dexterity via Pre-Training (ADEPT), a large-scale reinforcement learning (RL) framework for learning sim-to-real transferable dexterity across high degree-of-freedom (DoF) robot embodiments that can solve long-horizon tasks directly from raw visuo-tactile perception. ADEPT pretrains a dexterou...
Jayjun Lee, Jessica Yin, Asif Rana et al.
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