Real-World Reinforcement Learning with MPC Scaffolding for Dexterous Manipulation

arXiv:2609.14878 · cs.RO · Submitted 2026-09-14 · Read on arXiv

cs.RO

Submitted: 2026-09-14

Updated: 2026-09-16

Terminology

• Actor — 25× in this paper · explained in 3 episodes
• Reinforcement Learning — 17× in this paper · explained in 4 episodes
• Adaptation — 15× in this paper · explained in 1 episode
• Ablation — 9× in this paper · explained in 1 episode
• Scaffolding — 6× in this paper · explained in 3 episodes
• Action Space — 3× in this paper · explained in 1 episode
• Consistency — 3× in this paper · explained in 3 episodes
• Soft Actor-Critic — 3× in this paper
• Deep Reinforcement Learning — 2× in this paper · explained in 2 episodes
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Reinforcement Learning (RL) — 2× in this paper · explained in 25 episodes
• Adam — 1× in this paper · explained in 2 episodes
• Alternation — 1× in this paper · explained in 1 episode
• Digital Twin — 1× in this paper · explained in 4 episodes
• Human-in-the-Loop — 1× in this paper · explained in 3 episodes
• Mean Squared Error — 1× in this paper
• Motion Primitives — 1× in this paper · explained in 2 episodes
• Q-learning — 1× in this paper · explained in 3 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Sample Efficiency — 1× in this paper · explained in 4 episodes
• Soft Actor-Critic (SAC) — 1× in this paper · explained in 2 episodes

Sources

• SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulation
• AWAC: Accelerating Online Reinforcement Learning with Offline Datasets
• Policy Agnostic RL: Offline RL and Online RL Fine-Tuning of Any Class and Backbone
• Learning Dexterous Manipulation Policies from Experience and Imitation
• Residual Off-Policy RL for Finetuning Behavior Cloning Policies
• Accelerating and Scaling MPC-Guided Reinforcement Learning for Humanoid Locomotion and Manipulation
• Primitive-Informed Sampling-Based MPC for Multi-Fingered Dexterous Manipulation
• Proximal Policy Optimization Algorithms

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