Author

Kazuhiro Sasabuchi

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Preprint Sep 2026

Real-World Reinforcement Learning with MPC Scaffolding for Dexterous Manipulation

Real-world reinforcement learning (RL) offers a promising route to dexterous manipulation policies that can adapt directly from physical interaction, but learning is hindered by inefficient early exploration and costly failures. We propose a framework that uses sampling-based model predictive control (MPC) as scaffoldi...

Emek Barış Küçüktabak, Karankumar Patel, Zhao-Dong Yang et al. · 3 citations