Summary
This paper introduces HRGrad, a novel harmonized rotational gradient method designed to tackle complex multiscale time-dependent kinetic problems. These problems are challenging due to parameters transitioning between microscopic and macroscopic physics, often leading to "gradient conflicts" that hinder multi-task learning. HRGrad aims to overcome these conflicts, enabling simultaneous solutions across various asymptotic regions.
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[Paper] Ruka-v2: Tendon Driven Open-Source Dexterous Hand with Wrist and Abduction for Robot Learning
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