contact-rich tasks 1dexterous manipulation 1motion retargeting 1reinforcement learning 1sim-to-real transfer 1
From the 1 of 3 linked papers with an AI index.
3 papers
cs.RO2026
A Minimalist Retargeting-Guided Reinforcement Learning Recipe for Dexterous Manipulation
Yunhai Feng, Natalie Leung, Jiaxuan Wang +3
The paper introduces REGRIND, a simple pipeline that retargets a single human hand‑object demonstration to a robot hand and uses reinforcement learning to train a residual policy t…
cs.LG2025
A Smooth Sea Never Made a Skilled SAILOR: Robust Imitation via Learning to Search
Arnav Kumar Jain, Vibhakar Mohta, Subin Kim +5
The fundamental limitation of the behavioral cloning (BC) approach to imitation learning is that it only teaches an agent what the expert did at states the expert visited. This mea…
cs.RO2025
Reflective Planning: Vision-Language Models for Multi-Stage Long-Horizon Robotic Manipulation
Yunhai Feng, Jiaming Han, Zhuoran Yang +3
Solving complex long-horizon robotic manipulation problems requires sophisticated high-level planning capabilities, the ability to reason about the physical world, and reactively c…