Autonomous Results
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Serving Drill Operating
Pouring in the wild Plate Pickup
Pouring Wire Winding
Teleoperation Results
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Table Rearragement Card Pickup Dining Rearrangement
Chopstick Pickup Grape Plucking Pour Chips
Scoop and Pour Stack Bowl Stack Cups
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Stack Plate Insert Brush Cut Cucumber
Peel Cucumber Pouring Mix with Spatula
Spray and Clean with Brush Whisking Use Stapler
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Screwdriver Pickup Tool Cleanup
Use Drill Hammering Dough
Rearrange and Insert Soldering Iron Wire Winding
Teleoperation with Operator
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Stack Plate
Stack Bowl
Grape Plucking
Mobile Teleoperation
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Operator View of Box Transport Clear Trash
Box Transport Push Chair
LEAP Hand v1 Autonomous
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Pouring
Pringles (Dyanmic)
Stack Cup
Apple Vision Pro vs Ours
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Vision Pro Autonomous Rollout
Ours Autonomous Rollout
We compare the autonomous rollouts of AVP and ours. Vision Pro produces more shaky actions on policy rollout due to its use of end-effector control instead of joint control. We will have more videos that show operator comfort in the camera ready.