ContactExplorer: חקירת תפוקה-מודרכת של קשרים למניפולציה דקסטרוסה

תקציר מקורי באנגליתarXiv:2603.10971v4 Announce Type: replace-cross Abstract: Reinforcement learning explores effectively in domains such as Atari games, navigation, and locomotion, where novelty over states or dynamics is a sufficient signal. In contrast, dexterous manipulation requires rich physical hand--object interactions, but existing methods often suffer from unstable contact-based novelty signals, inefficient distance novelty signals, or reliance on task-specific priors. We propose ContactExplorer, a general exploration method for dexterous manipulation tasks. ContactExplorer represents contact as the intersection between object surface points and hand keypoints, encouraging dexterous hands to discover diverse and novel contact patterns, namely which fingers contact which object regions. It maintains