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Sriram Krishna

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Jun 2026

From Grasps to Dexterity: Large-Scale Grasp Pretraining for Dexterous Manipulation

This work adapts a hierarchical imitation learning framework that combines high-level hand sub-goal prediction with a low-level goal-conditioned controller to serve not only as resources for grasp synthesis, but also as scalable pretraining data for contact-rich dexterous manipulation.

Ying Yuan, Xinyu Liu, Sriram Krishna et al. · 0 citations