EigenDEXplore: Structured Exploration for Dexterous Manipulation with Human Priors

arXiv:2610.07681v1 Announce Type: cross Abstract: Dexterous manipulation poses a challenging high-dimensional optimization problem, as useful behaviors require coordinated motion across many hand joints. In reinforcement learning (RL) and sampling-based trajectory optimization, exploration commonly relies on independent robot joint perturbations, making coordinated behaviors difficult to discover. Prior work reduces this search space for grasp learning using low-dimensional spaces of coordinated joint motions learned from human hand data, but this restricts the expressivity required for genera

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