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DexNinja: Learning Robust Dexterous Cutting Policy with a Real-to-Sim-to-Real Data Engine
Cutting a piece of food looks effortless in human hands. For a robot, however, every cut is a high-contact interaction with a deformable, elasto-plastic object whose behavior changes with pose, contact mode, and cutting stage. Collecting real-world data is expensive and wasteful: each trial typicall
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