3 papers
cs.RO2026
AffordSim: A Scalable Data Generator and Benchmark for Affordance-Aware Robotic Manipulation
Mingyang Li, Haofan Xu, Haowen Sun +10
Many everyday robot manipulation skills are affordance-dependent, with success determined by whether the robot contacts the functional object region required by the subsequent acti…
cs.RO2026
Learning From Failures: Efficient Reinforcement Learning Control with Episodic Memory
Chenyang Miao
Reinforcement learning has achieved remarkable success in robot learning. However, under challenging exploration and contact-rich dynamics, early-stage training is frequently domin…
cs.RO2025
Multi-Goal Dexterous Hand Manipulation using Probabilistic Model-based Reinforcement Learning
Yingzhuo Jiang, Wenjun Huang, Rongdun Lin +3
This paper tackles the challenge of learning multi-goal dexterous hand manipulation tasks using model-based Reinforcement Learning. We propose Goal-Conditioned Probabilistic Model…