We introduce Accelerating Dexterity via Pre-Training (ADEPT), a large-scale reinforcement learning (RL) framework for learning sim-to-real transferable dexterity across high degree-of-freedom (DoF) robot embodiments that can solve long-horizon tasks directly from raw visuo-tactile perception. ADEPT pretrains a dexterous policy on a generic object reposing task, then post-trains downstream policies with this pretrained behavior as a prior. ADEPT enables learning new behaviors that are otherwise difficult to discover from scratch on multi-fingered robots and avoids learning the same set of skills over again for every new downstream task. The pretrained policy zero-shots the reposing phase of downstream tasks, but na\"ive RL fine-tuning rapidly degrades this capability during transfer. We address this with a stable post-training recipe combining behavior-cloning distillation, critic warm-up, and conservative on-policy updates. To safely exploit the full kinematic dexterity, we introduce a joint-space Geometric Fabric that mediates between the RL policy and the robot. We distill post-trained teachers into perceptive students that zero-shot sim-to-real transfer on two embodiments: a 23 DoF Kuka-Allegro with two RGB cameras, and a 29 DoF Flexiv-Sharpa with two RGB cameras and five vision-based tactile sensors, and can solve long-horizon tasks from challenging initial states with dexterity at human-level speed.
Investigating how experienced developers use agents in building software, including their motivations, strategies, task suitability, and sentiments finds that while experienced developers value agents as a productivity boost, they retain their agency in software design and implementation out of insistence on fundamental software quality attributes.
This systematic review evaluates 55 studies from 2017 to 2023 on the application of machine learning techniques to ASD, highlighting key challenges and opportunities, particularly the need for models that can integrate complex data to improve diagnostic accuracy and treatment outcomes.
Rafael Muñoz-Terol, Jesús Peral, Sandra Amador et al.· Heliyon· 4 citations· ⚡1
This paper identifies two different routes through which models can acquire geometrically separable features: they can learn them from complementary co-occurrence signals in general language data, including text-number co-occurrence and cross-number interaction, or from multi-token addition problems.
This work explores image generation using flow matching using flow matching and proposes an iterative process that can be integrated into virtually any generative modeling technique, thereby enhancing the performance and robustness of image synthesis systems.
Eldad Haber, Shadab Ahamed, Md Shahriar Rahim Siddiqui et al.· SIAM Journal on Scientific C...· 3 citations
Tensor networks are powerful formats for compressing large-scale data. However, their application to general data processing has been limited by the difficulty of performing nonlinear operations. Here, we introduce iterative tensor network transformations (ITNTs), a general algorithmic framework for the element-wise evaluation of elementary and nonlinear filtering functions on data encoded as tensor trains (TTs), a class of tensor networks. Our approach operates entirely in the compressed domain, enabling efficient computation on exponentially large datasets while maintaining a controlled computational cost. We demonstrate its power in two key areas: (I) evaluating highly nonlinear elementary and filtering functions on a 3D reactive flow field, enabling high-fidelity reaction rate computation and region filtering, and (II) finding extrema in complex optimization problems, such as solving Max-SAT instances on spaces up to $2^{70}$ configurations. These results establish ITNT as a foundational tool that provides tensor network methods with the capability for general-purpose data science and large-scale optimization.
Xiao Wang, Tomohiro Hashizume, Pia Siegl et al.· 2 citations
Related blog posts
MIT News · Artificial Intelligence· news.mit.eduJul 30, 2026
From feet to fingertips — we are teaching robots intelligent whole-body control, fine dexterity, and teamwork to complete a broad range of complex tasks.
