PDC trains a single egocentric-vision policy that lets a simulated humanoid search for, grasp, and place objects and open drawers without privileged state information.
Visual dexterity: In-hand reorientation of novel and complex object shapes.Science Robotics, 8(84):eadc9244, 2023
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Emergent Active Perception and Dexterity of Simulated Humanoids from Visual Reinforcement Learning
PDC trains a single egocentric-vision policy that lets a simulated humanoid search for, grasp, and place objects and open drawers without privileged state information.