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title
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2026-01-06 02:00:19
raw text
Sequential Dexterity | Chaining Dexterous Policies for Long-Horizon Manipulation Sequential Dexterity: Chaining Dexterous Policies for Long-Horizon Manipulation CoRL 2023 Yuanpei Chen * , Chen Wang * , Li Fei-Fei , C. Karen Liu Stanford University * Equal Contribution Paper ArXiv Video Code Sequential Dexterity is a general system based on reinforcement learning (RL) that chains multiple dexterous policies for achieving long-horizon task goals. Despite being trained only in simulation with a few task objects, our system demonstrates zero-shot transfer to a real-world robot equipped with a dexterous hand. These videos show building blocks into different shapes using our system in the real-world. Abstract Many real-world manipulation tasks consist of a series of subtasks that are significantly different from one another. Such long-horizon, complex tasks highlight the potential of dexterous hands, which possess adaptability and versa...
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