EigenDEXplore: better robot-hand exploration using coordinated human hand motion patterns
leto__jean · x · 2026-10-08
EigenDEXplore tackles a flaw in dexterous-hand RL: per-joint Gaussian noise is a poor exploration strategy for 20+ DoF hands. The method injects exploration noise along coordinated directions learned from human hand motion while retaining full control of every joint, improving learning on tool use, reorientation, and bimanual tasks.
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