Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: From One Hand to Multiple Hands: Imitation Learning for Dexterous
  Manipulation from Single-Camera Teleoperation   We propose to perform imitation learning for dexterous manipulation with
multi-finger robot hand from human demonstrations, and transfer the policy to
the real robot hand. We introduce a novel single-camera teleoperation system to
collect the 3D demonstrations efficiently with only an iPad and a computer. One
key contribution of our system is that we construct a customized robot hand for
each user in the physical simulator, which is a manipulator resembling the same
kinematics structure and shape of the operator's hand. This provides an
intuitive interface and avoid unstable human-robot hand retargeting for data
collection, leading to large-scale and high quality data. Once the data is
collected, the customized robot hand trajectories can be converted to different
specified robot hands (models that are manufactured) to generate training
demonstrations. With imitation learning using our data, we show large
improvement over baselines with multiple complex manipulation tasks.
Importantly, we show our learned policy is significantly more robust when
transferring to the real robot. More videos can be found in the
https://yzqin.github.io/dex-teleop-imitation .

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The categories of this paper are: hep-ph
2
The categories of this paper are: math
22
The categories of this paper are: chao-dyn
37
The categories of this paper are: supr-con
17
The categories of this paper are: q-fin
16
The categories of this paper are: stat
7
The categories of this paper are: hep-th
19
The categories of this paper are: eess
6
The categories of this paper are: astro-ph
10
The categories of this paper are: q-bio
8
The categories of this paper are: hep-ex
29
The categories of this paper are: funct-an
11
The categories of this paper are: hep-lat
30
The categories of this paper are: q-alg
28
The categories of this paper are: alg-geom
32
The categories of this paper are: atom-ph