A framework using 3D Gaussian Splatting for visual domain randomization enables robust monocular RGB-based dexterous in-hand reorientation on real hardware for multiple objects under varied lighting.
Unlike standard implementations, where only the critic has access to privileged state information, we provide privileged observationsO priv to both the actor and the critic
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ViserDex: Visual Sim-to-Real for Robust Dexterous In-hand Reorientation
A framework using 3D Gaussian Splatting for visual domain randomization enables robust monocular RGB-based dexterous in-hand reorientation on real hardware for multiple objects under varied lighting.