Learning Dexterous Manipulation Using Contact Wrench Guidance From Human Demonstration
Dexterous robot manipulation can benefit from the abundance of human demonstrations, but transferring such demonstrations to robot policies remains challenging. We present Contact Wrench Guidance from Human Demonstration in Robotic Dexterous Manipulation (CHORD), a framework for long-horizon manipulation of rigid and articulated objects with reinforcement learning. The key idea is object-centric contact wrench space guidance: we represent human and robot motions by the forces and torques they can induce on the object, enabling similarity to be measured by the induced instantaneous motions. This guidance makes reinforcement learning more scalable for contact-rich dexterous manipulation. We...
| Authors | Xinghao Zhu, Zixi Liu, Shalin Jain et al. |
|---|---|
| Primary category | cs.RO |
| Published | 22 June 2026 |
| Last updated at source | 14 August 2026 |
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