Aayush Jain

From Teleoperation to Long-Horizon Dexterity: Evaluating Visuomotor Skills and Offline Proxies for Dexterous Manipulation

Imitation learning policies are intended to make robotic manipulation robust to variations in object pose, appearance, and environment that challenge pre-programmed motion. However, real-world performance remains difficult to predict, as conventional optimization signals such as validation loss show no consistent relat...