2024
Efficient Tactile Sensing-based Learning from Limited Real-world Demonstrations for Dual-arm Fine Pinch-Grasp Skills
IROS 2024poster
Imitation learning for robot dexterous manipulation, especially with a real robot setup, typically requires a large number of demonstrations. In this paper, we present a data-efficient learning from demonstration framework which exploits the use of rich tactile sensing data and achieves fine bimanua…