相关论文: RoboPianist: Dexterous Piano Playing with Deep Rei…

Endowing robot hands with human-level dexterity has been a long-standing goal in robotics. Bimanual robotic piano playing represents a particularly challenging task: it is high-dimensional, contact-rich, and requires fast, precise control.…

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…

It has been a long-standing research goal to endow robot hands with human-level dexterity. Bi-manual robot piano playing constitutes a task that combines challenges from dynamic tasks, such as generating fast while precise motions, with…

Mastering dexterous manipulation with multi-fingered hands has been a grand challenge in robotics for decades. Despite its potential, the difficulty of collecting high-quality data remains a primary bottleneck for high-precision tasks.…

Towards the grand challenge of achieving human-level manipulation in robots, playing piano is a compelling testbed that requires strategic, precise, and flowing movements. Over the years, several works demonstrated hand-designed controllers…

Deep learning has provided new ways of manipulating, processing and analyzing data. It sometimes may achieve results comparable to, or surpassing human expert performance, and has become a source of inspiration in the era of artificial…

Training agents to autonomously learn how to use anthropomorphic robotic hands has the potential to lead to systems capable of performing a multitude of complex manipulation tasks in unstructured and uncertain environments. In this work, we…

Hand and finger movements are a mainstay of piano technique. Automatic Fingering from symbolic music data allows us to simulate finger and hand movements. Previous proposals achieve automatic piano fingering based on knowledge-driven or…

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…

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…

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…

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…

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…

Performing in-hand, contact-rich, and long-horizon dexterous manipulation remains an unsolved challenge in robotics. Prior hand dexterity works have considered each of these three challenges in isolation, yet do not combine these skills…

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…

Deep reinforcement learning (RL) has emerged as a promising approach for autonomously acquiring complex behaviors from low level sensor observations. Although a large portion of deep RL research has focused on applications in video games…

Achieving human-level dexterity is an important open problem in robotics. However, tasks of dexterous hand manipulation, even at the baby level, are challenging to solve through reinforcement learning (RL). The difficulty lies in the high…

Piano playing requires agile, precise, and coordinated hand control that stretches the limits of dexterity. Hand motion models with the sophistication to accurately recreate piano playing have a wide range of applications in character…

Deep reinforcement learning enables algorithms to learn complex behavior, deal with continuous action spaces and find good strategies in environments with high dimensional state spaces. With deep reinforcement learning being an active area…

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…