Yilin Ou

Closing the Reality Gap: Zero-Shot Sim-to-Real Deployment for Dexterous Force-Based Grasping and Manipulation

Zhe Zhao, Zhibin Li, Yilin Ou, Mengshi Qi

Human-like dexterous hands with multiple fingers offer human-level manipulation capabilities but remain difficult to train the control policies that can deploy on real hardware due to contact-rich physics and imperfect actuation. We present a sim-to-real reinforcement learning me…Read more