ContactExplorer: Contact Coverage-Guided Exploration for General-Purpose Dexterous Manipulation
Experimental results show that ContactExplorer substantially improves sample efficiency and success rates over existing exploration methods, that it reduces the need for task-specific priors, and that it remains effective across hand embodiments and transfers to the real world.
Zi-Xuan Liu, Ruo-Yi Qiao, Chenrui Tie et al.
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