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Emergent Dexterity via Diverse Resets and Large-Scale Reinforcement Learning

Patrick Yin^1*, Tyler Westenbroek^1*, Zhengyu Zhang², Joshua Tran¹, Ignacio Dagnino¹,
Eeshani Shilamkar¹, Numfor Mbiziwo-Tiapo¹, Simran Bagaria³, Xinlei Liu¹,
Galen Mullins³, Andrey Kolobov³, Abhishek Gupta¹
*Equal contribution ¹University of Washington, ²NVIDIA, ³Microsoft Research

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Reference

@misc{yin2026emergentdexteritydiverseresets,
        title={Emergent Dexterity via Diverse Resets and Large-Scale Reinforcement Learning}, 
        author={Patrick Yin and Tyler Westenbroek and Zhengyu Zhang and Joshua Tran and Ignacio Dagnino and Eeshani Shilamkar and Numfor Mbiziwo-Tiapo and Simran Bagaria and Xinlei Liu and Galen Mullins and Andrey Kolobov and Abhishek Gupta},
        year={2026},
        eprint={2603.15789},
        archivePrefix={arXiv},
        primaryClass={cs.RO},
        url={https://arxiv.org/abs/2603.15789}, 
  }