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simmediummanipulationmetric · varies
PTLD: Sim-to-real Privileged Tactile Latent Distillation for Dexterous Manipulation
Description
Tactile dexterous manipulation is essential to automating complex household tasks, yet learning effective control policies remains a challenge. While recent work has relied on imitation learning, obtaining high quality demonstrations for multi-fingered hands via robot teleoperation or kinesthetic teaching is prohibitive. Alternatively, with reinforcement we can learn skills in simulation, but fast and realistic simulation of tactile observations is challenging. To bridge this gap, we introduce P