From Teleoperation to Long-Horizon Dexterity: Evaluating Visuomotor Skills and Offline Proxies for Dexterous Manipulation
Imitation learning policies are intended to make robotic manipulation robust to variations in object pose, appearance, and environment that challenge pre-programmed motion. However, real-world performance remains difficult to predict, as conventional optimization signals such as validation loss show no consistent relat...
Ammar N. Abbas, Aayush Jain, P. Viswanath et al.
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