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RP1M: A Large-Scale Motion Dataset for Piano Playing, RP1M: A Large-Scale Motion Dataset for Piano Playing with Bi-Manual Dexterous Robot Hands. It has been a long-standing research goal to endow robot hands with human-level dexterity, With RP1M, it is now possible to train and test imitation learning approaches at scale. We benchmark various behavior cloning approaches and find that by using RP1M, existing methods reach state-of-the-art performance in terms of generalization capabilities in multi-song piano play. This work contributes in various ways:.

RP1M: A Large-Scale Motion Dataset for Piano Playing with Bi-Manual Dexterous Robot Hands Yi Zhao , Le Chen , Jan Schneider , Quankai Gao , Juho Kannala , Bernhard Sch lkopf , Joni Pajarinen , Dieter B chler

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