Reproduce “From Teleoperation to Long-Horizon Dexterity: Evaluating Visuomotor Skills and Offline Proxies for Dexterous Manipulation” on OpenResearch
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About this paper
Ammar N. Abbas, Aayush Jain, Prashanth Viswanath, Nivesh Gadipudi, Giulia Vilone, Jim Gibbons
The authors study how policy representations affect a five-fingered robot’s RJ45-connector grasping and insertion, testing 281 policies across seven families in about 1,700 real-robot trials. They vary scene and action representations and assess offline metrics against task success. Representation changes sometimes produce large gains; five motion metrics correlate with insertion success only for iDP3 checkpoints tested at both jigs.
Summary by alphaXiv.
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