Teaching robots to manipulate objects with humanlike dexterity has long been one of robotics’ toughest challenges. Tasks such as rotating an object in-hand or coordinating two robot arms to maneuver a bulky item require constant changes in contact, grip, and motion, skills that are difficult both to program and to demonstrate through human teleoperation.Teaching robots to manipulate objects with humanlike dexterity has long been one of robotics’ toughest challenges. Tasks such as rotating an object in-hand or coordinating two robot arms to maneuver a bulky item require constant changes in contact, grip, and motion, skills that are difficult both to program and to demonstrate through human teleoperation.[#item_full_content]