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A growing body of work suggests that tactile sensing gives robot policies contact information that complements vision in dexterous manipulation. However, visuo-tactile robot data remains scarce: dexterous demonstrations require teleoperating robots, which limits dataset scale. Human demonstrations are far cheaper to co...
Autonomous systems that learn and explore over long horizons face a problem. Standard methods scale poorly in the number of observations, n, precluding sustained operation on bounded hardware. We show that compositional, high-dimensional vector representations inspired by neural computation address these constraints. W...
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