huangwl18/geometry-dex
PyTorch Code for "Generalization in Dexterous Manipulation via Geometry-Aware Multi-Task Learning"
This project helps robotics researchers develop and test policies for dexterous robot hands to manipulate a wide range of objects. It takes in 3D object geometry (point clouds) and outputs a robot control policy that can perform in-hand manipulation on over 100 diverse real-world objects, even generalizing to new objects with different shapes or sizes. Robotics researchers and engineers working on advanced manipulation tasks would find this useful.
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Use this if you are a robotics researcher working on developing generalizable policies for robot dexterous manipulation across a large and varied set of objects.
Not ideal if you are looking for a pre-trained, production-ready solution for a specific industrial manipulation task without requiring policy development or research.
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64
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10
Language
Python
License
MIT
Category
Last pushed
Feb 15, 2022
Commits (30d)
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