Distributed Dexterous Manipulation with Spatially Conditioned Multi-Agent Transformers
Distributed Dexterous Manipulation (DDM) is a novel paradigm that presents significant control challenges due to high action-space redundancy, inter-robot cooperation, and dynamic object-robot interactions. This paper introduces a framework based on spatially conditioned Multi-Agent Transformers (MATs) to efficiently learn robust control policies for a DDM system grounded in an array of 64 soft delta robots arranged in an 8x8 grid. Our three core contributions are: (i) an MAT with adaptive layer norm for compute efficiency, (ii) spatial contrastive embeddings to ground transformer embeddings in the spatial configuration of the robots, and (iii) an MAT-based behavior cloning method fine-tu...
| Authors | Sarvesh Patil |
|---|---|
| Primary category | cs.RO |
| Published | 7 September 2026 |
| Last updated at source | 7 September 2026 |
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