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Expressive Robotic Pianist: Mastering Complex Piano Repertoire with Graph-Mimic and Musical Dynamics

arXiv · AI, language, vision and robotics · article · Sep 9, 2026 · UTC

Enabling robots to perform musical instruments with human-level expressivity represents a frontier in bridging the gap between mechanical precision and artistic interpretation. Despite advances in robotic dexterity, replicating the fluid finger transitions and nuanced dynamic control characteristic of human pianists remains a significant challenge. Through a reinforcement learning-based control framework, we demonstrate that a dexterous robotic hand can achieve high-fidelity performance across a diverse piano repertoire. Central to our approach is a graph-based optimization strategy that guide

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