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    "story_id": "mp-2026-10-10-001",
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    "headline": "One Demonstration Became Many Ways to Grasp",
    "slug": "one-demonstration-became-many-ways-to-grasp",
    "dek": "Relational scene graphs guided reinforcement learning beyond the exact poses and grasps shown in a single human video.",
    "summary": "Relational scene graphs guided reinforcement learning beyond the exact poses and grasps shown in a single human video.",
    "body_text": "Dex-One2Many converts one human demonstration into sequential scene graphs that describe relations rather than exact motions. Those graphs generate varied reset states and dense rewards for each stage, shortening exploration while exposing the policy to new object poses, goals and grasps. Trained in simulation, the policy transferred without additional training to a real multi-fingered hand. Across five tool-use and manipulation tasks, the authors report a 6.5% advantage in seen configurations and a 71% gap over baselines in unseen scenarios. These are reported task results, not evidence that one video can teach arbitrary dexterity.",
    "why_it_matters": "Relational scene graphs guided reinforcement learning beyond the exact poses and grasps shown in a single human video.",
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      "These are reported task results, not evidence that one video can teach arbitrary dexterity."
    ],
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    "first_published_at": "2026-10-10T09:00:00.000-04:00",
    "modified_at": "2026-10-10T09:00:00.000-04:00",
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        "text": "Relational scene graphs guided reinforcement learning beyond the exact poses and grasps shown in a single human video.",
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        "qualification": "These are reported task results, not evidence that one video can teach arbitrary dexterity."
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    "tags": [
      "dexterous manipulation",
      "scene graphs",
      "sim-to-real"
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      "source_id": "source-2026-10-10-001",
      "title": "arXiv preprint 2610.12470, original v1",
      "publisher": "arXiv / submitting research authors",
      "url": "https://arxiv.org/abs/2610.12470v1",
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      "published_at": "2026-10-08T13:59:58.000-04:00",
      "accessed_at": "2026-10-10T08:22:13.309-04:00",
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  "publisher": {
    "name": "The Machine Press",
    "url": "https://themachinepress.com",
    "description": "A daily newspaper for the age of artificial intelligence."
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  "cite_this_report": {
    "title": "One Demonstration Became Many Ways to Grasp",
    "publisher": "The Machine Press",
    "published_at": "2026-10-10T09:00:00.000-04:00",
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