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Across multiple dexterous hands, EigenDEXplore consistently outperforms joint-space and learned action-space baselines in grasping, in-hand reorientation, and contact-rich manipulation, and are largest in settings with less reward shaping and curriculum design.
Handroid is introduced, a desktop-scale dual-embodiment robot that integrates both capabilities within a single reconfigurable platform and provides a unified control and learning framework supporting hand teleoperation, dexterous grasping, in-hand manipulation, humanoid locomotion, gait generation, and interactive mot...
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