Evolving Dexterous Robots from Scratch

arXiv:2609.33101 · cs.RO, cs.LG · Submitted 2026-09-27 · Read on arXiv

cs.RO, cs.LG

Submitted: 2026-09-27

Updated: 2026-09-27

Terminology

• Latent Space — 12× in this paper · explained in 7 episodes
• Ablation — 8× in this paper · explained in 1 episode
• Accuracy — 8× in this paper · explained in 1 episode
• Contrastive Learning — 7× in this paper · explained in 5 episodes
• International Conference on Learning Representations — 5× in this paper
• Decode — 4× in this paper · explained in 2 episodes
• Proceedings of The Conference on Robot Learning — 4× in this paper
• Transformer — 4× in this paper · explained in 2 episodes
• Generative AI — 3× in this paper · explained in 2 episodes
• International Conference on Robotics and Automation — 3× in this paper
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Adaptation — 2× in this paper · explained in 1 episode
• Data Augmentation — 2× in this paper · explained in 7 episodes
• Distillation — 2× in this paper · explained in 2 episodes
• Embeddings — 2× in this paper · explained in 2 episodes
• Generative Model — 2× in this paper · explained in 2 episodes
• Representation Learning — 2× in this paper · explained in 2 episodes
• Synthetic Data Generation — 2× in this paper · explained in 5 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Cosine Similarity — 1× in this paper · explained in 3 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Loss Function — 1× in this paper · explained in 2 episodes
• Mixture of Experts — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Reward Function — 1× in this paper · explained in 2 episodes
• Variational Bayes — 1× in this paper · explained in 2 episodes

Sources

• Creating manufacturable blueprints for coarse-grained virtual robots
• The CMA Evolution Strategy: A Tutorial
• Function-based Parametric Co-Design Optimization of Dexterous Hands
• Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning
• Proximal Policy Optimization Algorithms
• DexGraspNet: A Large-Scale Robotic Dexterous Grasp Dataset for General Objects Based on Simulation
• One Hand to Rule Them All: Canonical Representations for Unified Dexterous Manipulation

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• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
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