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.
Photo-slam: Real-time simultaneous localization and photorealistic mapping for monocular, stereo, and rgb-d cameras
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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.