Adversarial Posture Regularization matches RL policy posture distributions to casual human piano-playing data to enforce human-like kinematics in dexterous hands, outperforming baselines on cPSI, BSE, and FAC metrics.
Pandora: Diffusion policy learning for dexterous robotic piano playing,
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Enforcing Human-like Kinematics in Dexterous Piano Playing via Adversarial Posture Regularization
Adversarial Posture Regularization matches RL policy posture distributions to casual human piano-playing data to enforce human-like kinematics in dexterous hands, outperforming baselines on cPSI, BSE, and FAC metrics.