2026
Emergent Dexterity Via Diverse Resets and Large-Scale Reinforcement Learning
Patrick Yin, Tyler Westenbroek, Zhengyu Zhang, Ignacio Dagnino, Eeshani Shilamkar, Numfor Mbiziwo-Tiapo +5
ICLR 2026poster
Reinforcement learning in GPU-enabled physics simulation has been the driving force behind many of the breakthroughs in sim-to-real robot learning. However, current approaches for data generation in simulation are unwieldy and task-specific, requiring extensive human effort to engineer training curr…