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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
ZEST: Zero-shot Embodied Skill Transfer for Athletic Robot Control
Jean Pierre Sleiman, He Li, Alphonsus Adu-Bredu +25
Achieving robust, human-like whole-body control on humanoid robots for agile, contact-rich behaviors remains a central challenge, demanding heavy per-skill engineering and a brittl…