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simmediumsim-to-realmetric · varies
Where to Touch, How to Contact: Hierarchical RL-MPC Framework for Geometry-Aware Long-Horizon Dexterous Manipulation
Description
A key challenge in contact-rich dexterous manipulation is the need to jointly reason over geometry, kinematic constraints, and intricate, nonsmooth contact dynamics. End-to-end visuomotor policies bypass this structure, but often require large amounts of data, transfer poorly from simulation to reality, and generalize weakly across tasks/embodiments. We address those limitations by leveraging a simple insight: dexterous manipulation is inherently hierarchical - at a high level, a robot decides w