2025
DemoStart: Demonstration-Led Auto-Curriculum Applied to Sim-to-Real with Multi-Fingered Robots
Maria Bauzá, Jose Enriaue Chen, Valentin Dalibard, Nimrod Gileadi, Roland Hafner, Murilo F. Martins +10
ICRA 2025
We present DemoStart, a novel auto-curriculum reinforcement learning method capable of learning complex manipulation behaviors on an arm equipped with a three- fingered robotic hand, from only a sparse reward and a handful of demonstrations in simulation. Learning from simulation drastically reduces