DexPolicy: Scheduled Exploration for Trajectory-Guided Dexterous Manipulation

arXiv:2610.00360 · cs.RO, cs.CV · Submitted 2026-09-30 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-09-30

Updated: 2026-09-30

Code: https://github.com/AIGeeksGroup/DexPolicy

Project page: https://aigeeksgroup.github.io/DexPolicy

Terminology

• GRPO — 34× in this paper · explained in 6 episodes
• AUC — 30× in this paper · explained in 2 episodes
• Benchmark — 9× in this paper · explained in 2 episodes
• Reinforcement Learning — 7× in this paper · explained in 4 episodes
• Actor — 5× in this paper · explained in 3 episodes
• Distillation — 3× in this paper · explained in 2 episodes
• Fine-Tuning — 3× in this paper · explained in 5 episodes
• Flow Matching — 3× in this paper · explained in 8 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Deep Reinforcement Learning — 2× in this paper · explained in 2 episodes
• Reinforcement Learning (RL) — 2× in this paper · explained in 25 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Generative Modeling — 1× in this paper · explained in 3 episodes
• Online Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Sim-to-Real Gap — 1× in this paper · explained in 6 episodes
• Verification — 1× in this paper · explained in 2 episodes
• Zero-Shot Generalization — 1× in this paper · explained in 5 episodes

Sources

• Proximal Policy Optimization Algorithms
• H-InDex: Visual Reinforcement Learning with Hand-Informed Representations for Dexterous Manipulation
• Action Noise in Off-Policy Deep Reinforcement Learning: Impact on Exploration and Performance
• PPO-CMA: Proximal Policy Optimization with Covariance Matrix Adaptation
• DeepSeekMath: Pushing the Limits of Mathematical Reasoning in Open Language Models
• Flow Policy Gradients for Robot Control
• ReinFlow: Fine-tuning Flow Matching Policy with Online Reinforcement Learning
• High-Dimensional Continuous Control Using Generalized Advantage Estimation
• FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects

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• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
• Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving