相关论文: DexCatch: Learning to Catch Arbitrary Objects with…

Pushing objects through cluttered scenes is a challenging task, especially when the objects to be pushed have initially unknown dynamics and touching other entities has to be avoided to reduce the risk of damage. In this paper, we approach…

Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to…

Universal grasping of a diverse range of previously unseen objects from heaps is a grand challenge in e-commerce order fulfillment, manufacturing, and home service robotics. Recently, deep learning based grasping approaches have…

In the context of imitation learning applied to dexterous robotic hands, the high complexity of the systems makes learning complex manipulation tasks challenging. However, the numerous datasets depicting human hands in various different…

Universal grasping with multi-fingered dexterous hands is a fundamental challenge in robotic manipulation. While recent approaches successfully learn closed-loop grasping policies using reinforcement learning (RL), the inherent difficulty…

Dexterous manipulation through imitation learning has gained significant attention in robotics research. The collection of high-quality expert data holds paramount importance when using imitation learning. The existing approaches for…

Learning to manipulate objects efficiently, particularly those involving sustained contact (e.g., pushing, sliding) and articulated parts (e.g., drawers, doors), presents significant challenges. Traditional methods, such as robot-centric…

We explore learning-based approaches for feedback control of a dexterous five-finger hand performing non-prehensile manipulation. First, we learn local controllers that are able to perform the task starting at a predefined initial state.…

This paper proposes a novel learning-free three-stage method that predicts grasping poses, enabling robots to pick up and transfer previously unseen objects. Our method first identifies potential structures that can afford the action of…

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…

This paper focuses on the scalable robot learning for manipulation in the dexterous robot arm-hand systems, where the remote human-robot interactions via augmented reality (AR) are established to collect the expert demonstration data for…

Imitation learning from human hand motion data presents a promising avenue for imbuing robots with human-like dexterity in real-world manipulation tasks. Despite this potential, substantial challenges persist, particularly with the…

In essence, successful grasp boils down to correct responses to multiple contact events between fingertips and objects. In most scenarios, tactile sensing is adequate to distinguish contact events. Due to the nature of high dimensionality…

This work deals with a practical everyday problem: stable object placement on flat surfaces starting from unknown initial poses. Common object-placing approaches require either complete scene specifications or extrinsic sensor measurements,…

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…

Modeling dexterous hand-object interactions is challenging as it requires understanding how subtle finger motions influence the environment through contact with objects. While recent world models address interaction modeling, they typically…

Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasing number of soft robots yields a need for approaches that…

The ability of robots to grasp novel objects has industry applications in e-commerce order fulfillment and home service. Data-driven grasping policies have achieved success in learning general strategies for grasping arbitrary objects.…

Efficient learning from demonstration for long-horizon tasks remains an open challenge in robotics. While significant effort has been directed toward learning trajectories, a recent resurgence of object-centric approaches has demonstrated…

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…