QuasiSim: Parameterized Quasi-Physical Simulators for Dexterous Manipulations Transfer

arXiv:2404.07988v1 Announce Type: cross
Abstract: We explore the dexterous manipulation transfer problem by designing simulators. The task wishes to transfer human manipulations to dexterous robot hand simulations and is inherently difficult due to its intricate, highly-constrained, and discontinuous dynamics and the need to control a dexterous hand with a DoF to accurately replicate human manipulations. Previous approaches that optimize in high-fidelity black-box simulators or a modified one with relaxed constraints only demonstrate limited capabilities or are restricted by insufficient simulation …

arxiv cs.cv cs.gr cs.ro transfer type