Res-HIL: Human-Guided Residual Reinforcement Learning for Sample-Efficient Dexterous Manipulation

arXiv:2609.30023 · cs.RO · Submitted 2026-09-24 · Read on arXiv

cs.RO

Submitted: 2026-09-24

Updated: 2026-09-24

Terminology

• Reinforcement Learning — 32× in this paper · explained in 4 episodes
• Human-in-the-Loop — 14× in this paper · explained in 3 episodes
• Reward Shaping — 14× in this paper · explained in 2 episodes
• Actor — 12× in this paper · explained in 3 episodes
• Ablation — 9× in this paper · explained in 1 episode
• Fine-Tuning — 6× in this paper · explained in 5 episodes
• Adaptation — 4× in this paper · explained in 1 episode
• Model-Agnostic — 4× in this paper · explained in 2 episodes
• Online Adaptation — 3× in this paper · explained in 3 episodes
• Ablation study — 2× in this paper · explained in 1 episode
• Affordance — 2× in this paper · explained in 1 episode
• Consistency — 2× in this paper · explained in 3 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Regret — 1× in this paper · explained in 3 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Trace — 1× in this paper · explained in 2 episodes
• VLA Models — 1× in this paper · explained in 3 episodes

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