Learning Where it Matters: Autonomous Data Collection and Offline Reinforcement Learning for Local Contact-Rich Manipulation

arXiv:2607.15982 · cs.RO · Submitted 2026-07-17 · Read on arXiv

cs.RO

Submitted: 2026-07-17

Updated: 2026-10-20

Terminology

• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 3 episodes
• Generalization — 1× in this paper · explained in 13 episodes

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