Manipulation Masterclass

From traditional force closure to deep learning grasp detection -- overview of modern grasping methods and how to choose right approach for your project.

Data collection via teleoperation, Behavioral Cloning pipeline, DAgger fixes distribution shift, and ACT -- comprehensive guide for teaching robots manipulation from demonstrations.

DDPM recap, Diffusion Policy architecture (CNN vs Transformer), implementation with LeRobot, and benchmark results — complete practical guide.

Vision-Language-Action models changing manipulation — from Google's RT-2 to pi0 by Physical Intelligence, with fine-tuning and real-world limitations.

In-hand rotation, tool use, DexGraspNet and tactile sensing — complete guide to dexterous manipulation with multi-finger robot hands.

ALOHA hardware, Mobile ALOHA, ACT for bimanual tasks, data collection tips and LeRobot SO-100 dual arm — complete guide to bimanual manipulation.

Complete end-to-end tutorial: setup LeRobot, record demonstrations, train policy (ACT/Diffusion), evaluate and deploy to real robot arms.