Preprint
Sep 2026
Real-World Reinforcement Learning with MPC Scaffolding for Dexterous Manipulation
A framework that uses sampling-based model predictive control (MPC) as scaffolding for real-world dexterous RL, providing structured prior experience and task-directed guidance during learning without human demonstrations or corrective actions is proposed.
Emek Barış Küçüktabak, Karankumar Patel, Zhao-Dong Yang et al.
· 3 citations