CHORD uses object-centric contact wrench guidance to improve RL scalability for long-horizon dexterous manipulation, reporting 82.12% average success on 1,831 of 4,739 benchmark tasks with real-world transfer.
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Learning Dexterous Manipulation Using Contact Wrench Guidance From Human Demonstration
CHORD uses object-centric contact wrench guidance to improve RL scalability for long-horizon dexterous manipulation, reporting 82.12% average success on 1,831 of 4,739 benchmark tasks with real-world transfer.