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Learning Visuotactile Skills with Two Multifingered Hands
April 26, 2024, 4:42 a.m. | Toru Lin, Yu Zhang, Qiyang Li, Haozhi Qi, Brent Yi, Sergey Levine, Jitendra Malik
cs.LG updates on arXiv.org arxiv.org
Abstract: Aiming to replicate human-like dexterity, perceptual experiences, and motion patterns, we explore learning from human demonstrations using a bimanual system with multifingered hands and visuotactile data. Two significant challenges exist: the lack of an affordable and accessible teleoperation system suitable for a dual-arm setup with multifingered hands, and the scarcity of multifingered hand hardware equipped with touch sensing. To tackle the first challenge, we develop HATO, a low-cost hands-arms teleoperation system that leverages off-the-shelf electronics, …
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