相关论文: Dexterous Manipulation from Images: Autonomous Rea…

The success of reinforcement learning for real world robotics has been, in many cases limited to instrumented laboratory scenarios, often requiring arduous human effort and oversight to enable continuous learning. In this work, we discuss…

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…

Reinforcement Learning (RL) algorithms can in principle acquire complex robotic skills by learning from large amounts of data in the real world, collected via trial and error. However, most RL algorithms use a carefully engineered setup in…

Dexterous robotic hands are essential for performing complex manipulation tasks, yet remain difficult to train due to the challenges of demonstration collection and high-dimensional control. While reinforcement learning (RL) can alleviate…

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…

Dexterous multi-fingered hands can accomplish fine manipulation behaviors that are infeasible with simple robotic grippers. However, sophisticated multi-fingered hands are often expensive and fragile. Low-cost soft hands offer an appealing…

Learning generalizable robot manipulation policies, especially for complex multi-fingered humanoids, remains a significant challenge. Existing approaches primarily rely on extensive data collection and imitation learning, which are…

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,…

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,…

Dexterous manipulation tasks involving contact-rich interactions pose a significant challenge for both model-based control systems and imitation learning algorithms. The complexity arises from the need for multi-fingered robotic hands to…

Dexterous multi-fingered hands are extremely versatile and provide a generic way to perform a multitude of tasks in human-centric environments. However, effectively controlling them remains challenging due to their high dimensionality and…

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…

Reinforcement learning (RL) holds great promise for enabling autonomous acquisition of complex robotic manipulation skills, but realizing this potential in real-world settings has been challenging. We present a human-in-the-loop…

Deep reinforcement learning (RL) algorithms can learn complex robotic skills from raw sensory inputs, but have yet to achieve the kind of broad generalization and applicability demonstrated by deep learning methods in supervised domains. We…

Tactile information plays a critical role in human dexterity. It reveals useful contact information that may not be inferred directly from vision. In fact, humans can even perform in-hand dexterous manipulation without using vision. Can we…

Dexterous manipulation with anthropomorphic robot hands remains a challenging problem in robotics because of the high-dimensional state and action spaces and complex contacts. Nevertheless, skillful closed-loop manipulation is required to…

Manipulating objects to achieve desired goal states is a basic but important skill for dexterous manipulation. Human hand motions demonstrate proficient manipulation capability, providing valuable data for training robots with multi-finger…

Reinforcement Learning (RL) training is predominantly conducted in cost-effective and controlled simulation environments. However, the transfer of these trained models to real-world tasks often presents unavoidable challenges. This research…

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…

Dexterous intelligence -- the ability to perform complex interactions with multi-fingered hands -- is a pinnacle of human physical intelligence and emergent higher-order cognitive skills. However, contrary to Moravec's paradox, dexterous…