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PatternDex: Learning Interaction Patterns to Guide Reinforcement Learning of Bimanual Dexterous Manipulation of Articulated Objects
In this paper, we develop a method that enables bimanual dexterous hands to manipulate articulated objects with a high success rate without suffering from an embodiment gap. We observe that the correlation between hand motions and object motions is dictated by the object rather than the hands and can be learned from hu …