Solving Challenging Dexterous Manipulation Tasks With Trajectory
           Optimisation and Reinforcement Learning

                     Henry Charlesworth 1 Giovanni Montana 1

              Abstract              the human hand — capable of tasks ranging from complex
                                grasping to writing and tool use. As such, it is natural to
    Training agents to autonomously control anthro-
                                attempt to create robotic hands that mimic the human h ...