Dexterity from Supervised Play
How can robots autonomously collect the contact-rich experience needed to learn dexterous manipulation? We present DSP: Dexterity from supervised play, a framework in which a robot learns a play policy from minutes of human play through behavior cloning, then deploys it autonomously to collect hours of interaction data to train a world model. During inference, the same play policy then guides model-predictive control (MPC) by proposing candidate action sequences for evaluation under the learned world model. To accelerate inference, we also introduce a method for distilling a closed-loop, goal-conditioned policy through self-play within the learned world model. We evaluate this framework o...
| Authors | Botao He, Yiming Dou, Yiannis Aloimonos et al. |
|---|---|
| Primary category | cs.RO |
| Published | 15 October 2026 |
| Last updated at source | 15 October 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 16 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.