Language Conditioned Multi-Finger Dexterous Manipulation Enabled by Physical Compliance and Switching of Controllers

arXiv:2410.14022v2 Announce Type: replace-cross Abstract: Human dexterity arises from combining high-level task reasoning with finger-level dexterity control and physical compliance at the muscle and skin layers. In robotics, large Vision-Language-Action (VLA) models demonstrate text-conditioned...