Hadrien Cornier GitHub
Papers / Visual explanation

Teach a robot hand how to explore.

Human motion guides its experiments. Every joint stays free.

EigenDEXplore01 / Human motion

Add shared motion to independent noise.

Coordinated + independentSchematic sample
A schematic hand with three controlled joints Human motion supplies shared movement patterns. EigenDEXplore adds noise along those patterns and keeps independent joint noise. The policy retains every joint target.
Joint targets
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A schematic of exploration during training.
About this sketch

This schematic uses a hand-drawn basis and selected synthetic samples. Both modes have equal expected total noise variance. Animation easing connects fresh, independently sampled noise. The paper learns its basis from human motion mapped to robot joints. The basis stays fixed during training.

Gupta et al. · Stanford · 6 Oct 2026