[kzakka]

Yup, we're not trying to mimic human movements exactly but rather optimizing for the reward given the robot hardware. Fun fact, we do things like add an energy penalty to try and reduce jitteriness / un-human like movements and it does help enormously.

[gus_massa]

I understand that the research objective is not a human like movement, but I think changing the rewards to keep the fingers straight will get nicer videos to show, and I don't expect it to be too hard.

Another question: The pinky finger is not shorter than the other fingers. Can it be a problem for the robot to use the human fingering?