相关论文: Transferring Dexterous Manipulation from GPU Simul…

In this work, we aim to learn dexterous manipulation of deformable objects using multi-fingered hands. Reinforcement learning approaches for dexterous rigid object manipulation would struggle in this setting due to the complexity of physics…

Dexterous manipulation, which refers to the ability of a robotic hand or multi-fingered end-effector to skillfully control, reorient, and manipulate objects through precise, coordinated finger movements and adaptive force modulation,…

Deep learning and reinforcement learning methods have recently been used to solve a variety of problems in continuous control domains. An obvious application of these techniques is dexterous manipulation tasks in robotics which are…

We introduce an efficient approach for learning dexterous grasping with minimal data, advancing robotic manipulation capabilities across different robotic hands. Unlike traditional methods that require millions of grasp labels for each…

We introduce CyberDemo, a novel approach to robotic imitation learning that leverages simulated human demonstrations for real-world tasks. By incorporating extensive data augmentation in a simulated environment, CyberDemo outperforms…

Sim-to-real transfer remains a critical bottleneck for deploying dexterous manipulation policies learned in simulation to real-world robots. Existing approaches rely on manually designed domain randomization or task-specific adaptation,…

Dexterous multi-fingered hands can provide robots with the ability to flexibly perform a wide range of manipulation skills. However, many of the more complex behaviors are also notoriously difficult to control: Performing in-hand object…

Human hand actions are quite complex, especially when they involve object manipulation, mainly due to the high dimensionality of the hand and the vast action space that entails. Imitating those actions with dexterous hand models involves…

While significant progress has been made on understanding hand-object interactions in computer vision, it is still very challenging for robots to perform complex dexterous manipulation. In this paper, we propose a new platform and pipeline…

Multi-finger robotic hand manipulation and grasping are challenging due to the high-dimensional action space and the difficulty of acquiring large-scale training data. Existing approaches largely rely on human teleoperation with wearable…

Dexterous manipulation remains an open problem in robotics. To coordinate efforts of the research community towards tackling this problem, we propose a shared benchmark. We designed and built robotic platforms that are hosted at MPI for…

Many objects, such as tools and household items, can be used only if grasped in a very specific way - grasped functionally. Often, a direct functional grasp is not possible, though. We propose a method for learning a dexterous pre-grasp…

This paper identifies and addresses the problems with naively combining (reinforcement) learning-based controllers and state estimators for robotic in-hand manipulation. Specifically, we tackle the challenging task of purely tactile,…

Robotic manipulation of deformable and fragile objects presents significant challenges, as excessive stress can lead to irreversible damage to the object. While existing solutions rely on accurate object models or specialized sensors and…

We propose to learn to generate grasping motion for manipulation with a dexterous hand using implicit functions. With continuous time inputs, the model can generate a continuous and smooth grasping plan. We name the proposed model…

Bimanual manipulation with tactile feedback will be key to human-level robot dexterity. However, this topic is less explored than single-arm settings, partly due to the availability of suitable hardware along with the complexity of…

Object handover is an important skill that we use daily when interacting with other humans. To deploy robots in collaborative setting, like houses, being able to receive and handing over objects safely and efficiently becomes a crucial…

Dexterous manipulation is a cornerstone capability for robotic systems aiming to interact with the physical world in a human-like manner. Although vision-based methods have advanced rapidly, tactile sensing remains crucial for fine-grained…

Human hands play a central role in interacting, motivating increasing research in dexterous robotic manipulation. Data-driven embodied AI algorithms demand precise, large-scale, human-like manipulation sequences, which are challenging to…

Automation holds the potential to assist surgeons in robotic interventions, shifting their mental work load from visuomotor control to high level decision making. Reinforcement learning has shown promising results in learning complex…