Pre-training Visual Dexterity in Simulation

arXiv:2608.15917 · cs.RO, cs.AI, cs.CV · Submitted 2026-08-16 · Read on arXiv

cs.RO, cs.AI, cs.CV

Submitted: 2026-08-16

Updated: 2026-08-27

Comments: Project page: https://spd.bot

Project page: https://spd.bot

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Ablation Studies — 1× in this paper · explained in 1 episode
• Simulation Pre-training for Dexterity — 1× in this paper
• Transformer — 1× in this paper · explained in 2 episodes

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