Author

Sarthak Kamat

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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 manipulation.

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