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    "story_id": "mp-2026-10-17-014",
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    "position": 14,
    "story_type": "dispatch",
    "section": "robotics",
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    "headline": "The Humanoid Uses Its Torso as Part of the Grasp",
    "slug": "the-humanoid-uses-its-torso-as-part-of-the-grasp",
    "dek": "Whole-Body Dexterity trains a policy to brace and slide bulky objects against arms and body surfaces.",
    "summary": "Whole-Body Dexterity trains a policy to brace and slide bulky objects against arms and body surfaces.",
    "body_text": "Dexterous manipulation is often reduced to the hands. Whole-Body Dexterity first generates feasible body-contact grasps, trains reinforcement-learning experts to move between them and distills those experts into one policy using proprioception and object geometry. Transferred without hardware-specific fine-tuning to a Unitree G1, the controller repositioned a basketball and box around the torso and completed a teleoperated sequence that stowed, carried and placed a box. Across the reported real-world tasks, it completed 90 percent of trials, versus 18 percent for direct retargeting and 4 percent for a generalist whole-body controller. The task set is narrow and still uses coarse human references.",
    "why_it_matters": "Whole-Body Dexterity trains a policy to brace and slide bulky objects against arms and body surfaces.",
    "limitations": [],
    "importance": 8,
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    "first_published_at": "2026-10-17T09:00:00.000-04:00",
    "modified_at": "2026-10-17T09:00:00.000-04:00",
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    "tags": [
      "humanoids",
      "whole-body control",
      "manipulation"
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    "image_url": null,
    "corrections": []
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  "sources": [
    {
      "source_id": "source-2026-10-17-014",
      "title": "arXiv preprint 2610.22184, original v1",
      "publisher": "arXiv",
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      "published_at": "2026-10-15T12:40:48.000-04:00",
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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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    "title": "The Humanoid Uses Its Torso as Part of the Grasp",
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