PatternDex: Learning Interaction Patterns to Guide Reinforcement Learning of Bimanual Dexterous Manipulation of Articulated Objects

arXiv:2610.04765 · cs.RO · Submitted 2026-10-03 · Read on arXiv

cs.RO

Submitted: 2026-10-03

Updated: 2026-10-03

Comments: 8 pages, 5 figures, 3 tables. Project page: https://patterndex.github.io/PatternDex/

Project page: https://patterndex.github.io/PatternDex

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Reinforcement Learning — 1× in this paper · explained in 4 episodes

Sources

• A Minimalist Retargeting-Guided Reinforcement Learning Recipe for Dexterous Manipulation
• DexMachina: Functional Retargeting for Bimanual Dexterous Manipulation
• TopoRetarget: Interaction-Preserving Retargeting for Dexterous Manipulation
• DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics
• Proximal Policy Optimization Algorithms
• CoTracker3: Simpler and Better Point Tracking by Pseudo-Labelling Real Videos

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