A contact-centric framework extracts contact event sequences from one demonstration to serve as structured reward for RL, yielding more stable sim-to-real transfer than unconstrained baselines in manipulation tasks.
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ConCent: Contact-Centric Real-to-Sim-to-Real Learning from One Demonstration
A contact-centric framework extracts contact event sequences from one demonstration to serve as structured reward for RL, yielding more stable sim-to-real transfer than unconstrained baselines in manipulation tasks.