Piotr Koczy

Learning Dexterous In-Hand Manipulation with Multifingered Hands via Visuomotor Diffusion

We present a framework for learning dexterous in-hand manipulation with multifingered hands using visuo-motor diffusion policies. Our system enables complex in-hand manipulation tasks, such as unscrewing a bottle lid with one hand, by leveraging a fast and responsive teleoperation setup for the four