نسخة أولية وصول مفتوح
ReDex: Repairing Sim-to-Real Dexterous Policies by Finger-Level Compliant Interaction
Dexterous manipulation policies trained in simulation often fail to transfer to the real world because of errors in contact timing and force regulation. Yet these policies can retain useful multi-finger coordination for task progression. We propose ReDex, a framework for adapting a simulation-trained base policy to the …