Sriram Krishna

From Grasps to Dexterity: Large-Scale Grasp Pretraining for Dexterous Manipulation

Ying Yuan, Xinyu Liu, Sriram Krishna, David Held

Large-scale dexterous grasp datasets encode rich priors over hand-object interaction, but their use has largely been confined to grasp generation and pick-and-place manipulation. We study whether such data can instead support functional dexterity in articulated tool use, where a…Read more