Primitive-Informed Sampling-Based MPC for Multi-Fingered Dexterous Manipulation

arXiv:2609.14868 · cs.RO · Submitted 2026-09-14 · Read on arXiv

cs.RO

Submitted: 2026-09-14

Updated: 2026-09-16

Terminology

• Ablation — 8× in this paper · explained in 1 episode
• Adaptation — 5× in this paper · explained in 1 episode
• Digital Twin — 5× in this paper · explained in 4 episodes
• Actor — 3× in this paper · explained in 3 episodes
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Accuracy — 2× in this paper · explained in 1 episode
• Model Predictive Control (MPC) — 2× in this paper · explained in 5 episodes
• Motion Primitives — 2× in this paper · explained in 2 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Core — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Scaffolding — 1× in this paper · explained in 3 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
• Soft Actor-Critic (SAC) — 1× in this paper · explained in 2 episodes

Sources

• Solving Rubik's Cube with a Robot Hand
• Predictive Sampling: Real-time Behaviour Synthesis with MuJoCo
• Sumo: Dynamic and Generalizable Whole-Body Loco-Manipulation
• Real-World Reinforcement Learning with MPC Scaffolding for Dexterous Manipulation

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