相关论文: Learning Dexterous Manipulation for a Soft Robotic…

The rapid increase in the development of humanoid robots and customized manufacturing solutions has brought dexterous manipulation to the forefront of modern robotics. Over the past decade, several expensive dexterous hands have come to…

The virtuoso plays the piano with passion, poetry and extraordinary technical ability. As Liszt said (a virtuoso)must call up scent and blossom, and breathe the breath of life. The strongest robots that can play a piano are based on a…

Learning from demonstration (LfD) is commonly considered to be a natural and intuitive way to allow novice users to teach motor skills to robots. However, it is important to acknowledge that the effectiveness of LfD is heavily dependent on…

Teaching dexterity to multi-fingered robots has been a longstanding challenge in robotics. Most prominent work in this area focuses on learning controllers or policies that either operate on visual observations or state estimates derived…

In-hand object manipulation is challenging to simulate due to complex contact dynamics, non-repetitive finger gaits, and the need to indirectly control unactuated objects. Further adapting a successful manipulation skill to new objects with…

Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…

Functional grasping with dexterous robotic hands is a key capability for enabling tool use and complex manipulation, yet progress has been constrained by two persistent bottlenecks: the scarcity of large-scale datasets and the absence of…

We present a novel Learning from Demonstration (LfD) method, Deformable Manipulation from Demonstrations (DMfD), to solve deformable manipulation tasks using states or images as inputs, given expert demonstrations. Our method uses…

We present DexCanvas, a large-scale hybrid real-synthetic human manipulation dataset containing 7,000 hours of dexterous hand-object interactions seeded from 70 hours of real human demonstrations, organized across 21 fundamental…

Learning from human demonstrations has exhibited remarkable achievements in robot manipulation. However, the challenge remains to develop a robot system that matches human capabilities and data efficiency in learning and generalizability,…

We automate soft robotic hand design iteration by co-optimizing design and control policy for dexterous manipulation skills in simulation. Our design iteration pipeline combines genetic algorithms and policy transfer to learn control…

The ability of robotic grippers to not only grasp but also re-position and re-orient objects in-hand is crucial for achieving versatile, general-purpose manipulation. While recent advances in soft robotic grasping has greatly improved grasp…

The sense of touch is an essential ability for skillfully performing a variety of tasks, providing the capacity to search and manipulate objects without relying on visual information. In this paper, we introduce a multi-finger robot system…

Recent advancements in teleoperation systems have enabled high-quality data collection for robotic manipulators, showing impressive results in learning manipulation at scale. This progress suggests that extending these capabilities to…

Controlling hands in high-dimensional action space has been a longstanding challenge, yet humans naturally perform dexterous tasks with ease. In this paper, we draw inspiration from the concept of internal model exhibited in human behavior…

Leveraging human motion data to impart robots with versatile manipulation skills has emerged as a promising paradigm in robotic manipulation. Nevertheless, translating multi-source human hand motions into feasible robot behaviors remains…

Automating dexterous, contact-rich manipulation tasks using rigid robots is a significant challenge in robotics. Rigid robots, defined by their actuation through position commands, face issues of excessive contact forces due to their…

Replicating human-like dexterity in robot hands represents one of the largest open problems in robotics. Reinforcement learning is a promising approach that has achieved impressive progress in the last few years; however, the class of…

This paper presents, for the first time, a method for learning in-contact tasks from a teleoperated demonstration with a hydraulic manipulator. Due to the use of extremely powerful hydraulic manipulator, a force-reflected bilateral…

Dexterous in-hand manipulation is an essential skill of production and life. However, the highly stiff and mutable nature of contacts limits real-time contact detection and inference, degrading the performance of model-based methods.…