a) Simulation setup.:Each environment instance con- tains an Orca hand and a rigid cube object placed above a small kinematic platform

Teacher Policy Training:We train the teacher policy fully in simulation using IsaacLab, in an environment that models single-axis spinning of a 45 mm cube with the Orca hand

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SERNF: Sample-Efficient Real-World Dexterous Policy Fine-Tuning via Action-Chunked Critics and Normalizing Flows

cs.RO · 2026-02-10

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SERNF: Sample-Efficient Real-World Dexterous Policy Fine-Tuning via Action-Chunked Critics and Normalizing Flows cs.RO · 2026-02-10 · unreviewed · ref 67