Grasp pretraining on 355k trajectories improves full-task success on six articulated tool-use tasks by 33.3 pp over DP3 in real-world experiments.
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From Grasps to Dexterity: Large-Scale Grasp Pretraining for Dexterous Manipulation
Grasp pretraining on 355k trajectories improves full-task success on six articulated tool-use tasks by 33.3 pp over DP3 in real-world experiments.