Learning Dexterous Manipulation Using Contact Wrench Guidance From Human Demonstration

Excerpt

arXiv:2607.00033v2 Announce Type: replace-cross Abstract: Dexterous robot manipulation can benefit from the abundance of human demonstrations, but transferring such demonstrations to robot policies remains challenging. We present Contact Wrench Guidance from Human Demonstration in Robotic Dexterous Manipulation (CHORD), a framework for long-horizon manipulation of rigid and articulated objects with reinforcement learning. The key idea is object-centric contact wrench space guidance: we represent