Yun-Long Song

DexTaG: Tactile-as-Guidance in Reinforcement Learning for Dexterous Manipulation

Glove-based motion capture is emerging as a scalable approach to collecting dexterous-hand demonstration data. However, due to the kinematic gap between the human and robot hand, the recorded human motions cannot be executed directly on the robot, especially for contact-rich tool-use tasks involving in-hand reorientati...