Where to Touch, How to Contact: A Hierarchical RL-MPC Framework for Geometry-Aware Sim-to-Real Manipulation
技术动态
来源：arXiv cs.RO发布时间待核实
arXiv:2601.10930v5 Announce Type: replace Abstract: A key challenge in contact-rich dexterous manipulation is the need to jointly reason over global geometry and nonsmooth contact dynamics. End-to-end policies bypass this complexity, but often require large amounts of data and transfer poorly from simulation to reality.