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cs.RO2026
ADEPT: Accelerating Dexterity via Pre-Training and Post-Training using Reinforcement Learning
Jayjun Lee, Jessica Yin, Asif Rana +8
We introduce Accelerating Dexterity via Pre-Training (ADEPT), a large-scale reinforcement learning (RL) framework for learning sim-to-real transferable dexterity across high degree…
cs.RO2026
TactAlign: Human-to-Robot Policy Transfer via Tactile Alignment
Youngsun Wi, Jessica Yin, Elvis Xiang +5
Human demonstrations collected by wearable devices (e.g., tactile gloves) provide fast and dexterous supervision for policy learning, and are guided by rich, natural tactile feedba…