From Teleoperation to Long-Horizon Dexterity: Evaluating Visuomotor Skills and Offline Proxies for Dexterous Manipulation

Ammar N. Abbas, Aayush Jain, Prashanth Viswanath +3

Imitation learning policies are intended to make robotic manipulation robust to variations in object pose, appearance, and environment that challenge pre-programmed motion. However…