Very excited to release Contact-Anchored Policies (CAP) 🧢 today! Check out this thread for more details on that and on our in-the-loop simulation evaluations:
Best ideas are often the simplest in hindsight.
Meet Contact-Anchored Policies (CAP)🧢: by conditioning policies on physical contact (vs language) we achieve env & embodiment generalization with super low resources.
This policy ⬇️ learned to pick from scratch w/ 16 hrs of data 🧵