相关论文: On the Feasibility of Learning Finger-gaiting In-h…

This paper explores the problem of autonomous, in-hand regrasping--the problem of moving from an initial grasp on an object to a desired grasp using the dexterity of a robot's fingers. We propose a planner for this problem which alternates…

Constraining contacts to remain fixed on an object during manipulation limits the potential workspace size, as motion is subject to the hand's kinematic topology. Finger gaiting is one way to alleviate such restraints. It allows contacts to…

In-hand manipulation using multiple dexterous fingers is a critical robotic skill that can reduce the reliance on large arm motions, thereby saving space and energy. This letter focuses on in-grasp object movement, which refers to…

Recently, reinforcement learning has led to dexterous manipulation skills of increasing complexity. Nonetheless, learning these skills in simulation still exhibits poor sample-efficiency which stems from the fact these skills are learned…

We study gravitational pivoting, a constrained version of in-hand manipulation, where we aim to control the rotation of an object around the grip point of a parallel gripper. To achieve this, instead of controlling the gripper to avoid…

We use reinforcement learning (RL) to learn dexterous in-hand manipulation policies which can perform vision-based object reorientation on a physical Shadow Dexterous Hand. The training is performed in a simulated environment in which we…

Generalized in-hand manipulation has long been an unsolved challenge of robotics. As a small step towards this grand goal, we demonstrate how to design and learn a simple adaptive controller to achieve in-hand object rotation using only…

Re-grasp manipulation leverages on ergonomic tools to assist humans in accomplishing diverse tasks. In certain scenarios, humans often employ external forces to effortlessly and precisely re-grasp tools like a hammer. Previous development…

Dexterous robot hand teleoperation allows for long-range transfer of human manipulation expertise, and could simultaneously provide a way for humans to teach these skills to robots. However, current methods struggle to reproduce the…

Dexterous manipulation has received considerable attention in recent research. Predominantly, existing studies have concentrated on reinforcement learning methods to address the substantial degrees of freedom in hand movements. Nonetheless,…

Human dexterity is an invaluable capability for precise manipulation of objects in complex tasks. The capability of robots to similarly grasp and perform in-hand manipulation of objects is critical for their use in the ever changing human…

Dexterous multi-fingered robotic hands can perform a wide range of manipulation skills, making them an appealing component for general-purpose robotic manipulators. However, such hands pose a major challenge for autonomous control, due to…

In-hand manipulation and grasping are fundamental yet often separately addressed tasks in robotics. For deriving in-hand manipulation policies, reinforcement learning has recently shown great success. However, the derived controllers are…

Vision-based grasping systems typically adopt an open-loop execution of a planned grasp. This policy can fail due to many reasons, including ubiquitous calibration error. Recovery from a failed grasp is further complicated by visual…

Complex and contact-rich robotic manipulation tasks, particularly those that involve multi-fingered hands and underactuated object manipulation, present a significant challenge to any control method. Methods based on reinforcement learning…

Reorienting diverse objects with a multi-fingered hand is a challenging task. Current methods in robotic in-hand manipulation are either object-specific or require permanent supervision of the object state from visual sensors. This is far…

In-hand manipulation with multi-fingered hands is a challenging problem that recently became feasible with the advent of deep reinforcement learning methods. While most contributions to the task brought improvements in robustness and…

Robots in dynamic environments need fast, accurate models of how objects move in their environments to support agile planning. In sports such as ping pong, analytical models often struggle to accurately predict ball trajectories with spins…

Tool use, a hallmark feature of human intelligence, remains a challenging problem in robotics due the complex contacts and high-dimensional action space. In this work, we present a novel method to enable reinforcement learning of tool use…

Recent advances have been made in learning of grasps for fully actuated hands. A typical approach learns the target locations of finger links on the object. When a new object must be grasped, new finger locations are generated, and a…