Jessica Yin — researcher or builder tracked in the Angestrom contributor network.
We introduce Accelerating Dexterity via Pre-Training (ADEPT), a large-scale reinforcement learning (RL) framework for learning sim-to-real transferable dexterity across high degree-of-freedom (DoF) robot embodiments that can solve long-horizon tasks directly from raw visuo-tactile perception. ADEPT pretrains a dexterous policy on a generic object reposing task, then post-trains downstream policies with this pretrained behavior as a prior. ADEPT enables learning new behaviors that are otherwise difficult to discover from scratch on multi-fingered robots and avoids learning the same set of skill
