Article

MDPO: A Multi-Constraint Policy Optimization Reinforcement Learning Method for Dexterous Manipulation

The authors propose Multi-constraint Dexterous Policy Optimization (MDPO), which formulates dexterous manipulation as a multi-constraint policy optimization problem involving both cumulative cost constraints and state-wise cost constraints, and integrates multi-constraint projection into the policy optimization process. In experiments on ReDMan for safe joint control, finger safety, and grasping tasks, MDPO achieved better constraint satisfaction than baselines while maintaining competitive task performance. The code is publicly available.

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