3 papers
cs.RO2025
Towards Human-level Dexterity via Robot Learning
Gagan Khandate
Dexterous intelligence -- the ability to perform complex interactions with multi-fingered hands -- is a pinnacle of human physical intelligence and emergent higher-order cognitive…
cs.RO2025
Train Robots in a JIF: Joint Inverse and Forward Dynamics with Human and Robot Demonstrations
Gagan Khandate, Boxuan Wang, Sarah Park +7
Pre-training on large datasets of robot demonstrations is a powerful technique for learning diverse manipulation skills but is often limited by the high cost and complexity of coll…
cs.RO2024
RR: Rapid eXploration for Reinforcement Learning via Sampling-based Reset Distributions and Imitation Pre-training
Gagan Khandate, Tristan L. Saidi, Siqi Shang +5
We present a method for enabling Reinforcement Learning of motor control policies for complex skills such as dexterous manipulation. We posit that a key difficulty for training suc…