一次演示适配多物体：借局部接触几何泛化机器人操作
原标题：One Demonstration, Many Objects: Generalizing Manipulation via Local Contact Geometry
技术动态AI 88
来源：arXiv cs.RO发布时间待核实
arXiv:2609.01938v2 Announce Type: replace Abstract: Dexterous manipulation with multi-fingered robot hands promises human-level dexterity, but collecting large-scale dexterous robot hand data remains difficult. Learning from human demonstrations has emerged as a scalable alternative to robot teleoperation, providing strong priors on object interaction and contact strategies. Recent sim-to-real RL methods incorporate such priors, but often (i) omit rewards that explicitly incentivize precise cont…