Learning contact-rich whole-body manipulation with example-guided reinforcement learning

Humans employ a diversity of skills and strategies to effectively manipulate various objects, ranging from dexterous in-hand manipulation (fine motor skills) to complex whole-body manipulation (gross motor skills). The latter involves full-body engagement and extensive contact with various body parts beyond just the hands, where the compliance of our skin and muscles plays a crucial role in increasing contact stability and mitigating uncertainty. For robots, synthesizing such contact-rich behaviors has fundamental challenges due to the rapidly growing combinatorics inherent to this amount of contact, making explicit reasoning about all contact interactions intractable. We explore the use of example-guided reinforcement learning to generate robust whole-body skills for the manipulation of large and unwieldy objects. Our method’s effectiveness is demonstrated on Toyota Research Institute’s Punyo robot, a humanoid upper-body with highly deformable, pressure-sensing skin. Training is conduc..., , # Learning contact-rich whole-body manipulation with example-guided reinforcement learning

This dataset contains CC0-licensed components authored by us for the Punyo_EGRL project. NVIDIA and other third‑party software are not redistributed here; instead, they are linked as a simultaneous Zenodo software record under a BSD 3-Clause ‘New’ or ‘Revised’ license, per upstream terms. This README describes the CC0 data and code included, file structure, relationships, and reuse guidance.

## Description of the data and file structure

Top-level layout in this dataset (Punyo_EGRL.zip):

* assets/
* punyo/ — URDF and mesh assets for the Punyo robot we authored:
* `punyo_v2.urdf`
* `meshes/*.obj`
* code/
* isaacgymenvs/
* tasks/
* `punyo_amp.py` — task implementation for Punyo AMP
* `amp/punyo_amp_base.py` — base task utilities used by `punyo_amp.py`
* `punyo_helpers/` — utilities for visualization and helpers
* cfg/
* task/
* `PunyoV2AMP.yaml`...,