SERNF achieves sample-efficient real-world fine-tuning of multimodal dexterous policies by pairing exact-likelihood normalizing flow policies with action-chunked value critics.
a) Simulation setup.:Each environment instance con- tains an Orca hand and a rigid cube object placed above a small kinematic platform
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SERNF: Sample-Efficient Real-World Dexterous Policy Fine-Tuning via Action-Chunked Critics and Normalizing Flows
SERNF achieves sample-efficient real-world fine-tuning of multimodal dexterous policies by pairing exact-likelihood normalizing flow policies with action-chunked value critics.