A Minimalist Retargeting-Guided Reinforcement Learning Recipe for Dexterous Manipulation

Recent work in humanoid whole-body control has found success with a simple recipe: retarget human motion to robot kinematic references, then train policies via reinforcement learning (RL) to track them.

Recent work in humanoid whole-body control has found success with a simple recipe: retarget human motion to robot kinematic references, then train policies via reinforcement learning (RL) to track them. But how does this recipe transfer to dexterous manipulation? The answer is…