Emerging Extrinsic Dexterity in Cluttered Scenes via Dynamics-aware Policy Learning 事件

Emerging Extrinsic Dexterity in Cluttered Scenes via Dynamics-aware Policy Learning arXiv:2603.09882v2 Announce Type: replace-cross Abstract: Extrinsic dexterity leverages environmental contact to overcome the limitations of prehensile manipulation. However, achieving such dexterity in cluttered scenes remains challenging and underexplored, as it requires selectively exploiting contact among multiple interacting objects with inherently coupled dynamics. Existing approaches lack explicit modelin