AI RESEARCH
SERFN: Sample-Efficient Real-World Dexterous Policy Fine-Tuning via Action-Chunked Critics and Normalizing Flows
arXiv CS.LG
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ArXi:2602.09580v2 Announce Type: replace-cross Real-world fine-tuning of dexterous manipulation policies remains challenging due to limited real-world interaction budgets and highly multimodal action distributions. Diffusion-based policies, while expressive, do not permit conservative likelihood-based updates during fine-tuning because action probabilities are intractable.