相关论文: Twisting Lids Off with Two Hands

Bimanual dexterous manipulation remains significant challenges in robotics due to the high DoFs of each hand and their coordination. Existing single-hand manipulation techniques often leverage human demonstrations to guide RL methods but…

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…

We want to enable fine manipulation with a multi-fingered robotic hand by using modern deep reinforcement learning methods. Key for fine manipulation is a spatially resolved tactile sensor. Here, we present a novel model of a tactile skin…

Dexterous robotic manipulation remains a challenging domain due to its strict demands for precision and robustness on both hardware and software. While dexterous robotic hands have demonstrated remarkable capabilities in complex tasks,…

Bimanual object manipulation involves multiple visuo-haptic sensory feedbacks arising from the interaction with the environment that are managed from the central nervous system and consequently translated in motor commands. Kinematic…

Biomimetic, dexterous robotic hands have the potential to replicate much of the tasks that a human can do, and to achieve status as a general manipulation platform. Recent advances in reinforcement learning (RL) frameworks have achieved…

Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…

Achieving generalized in-hand object rotation remains a significant challenge in robotics, largely due to the difficulty of transferring policies from simulation to the real world. The complex, contact-rich dynamics of dexterous…

This paper proposes a detailed and extensive comparison of the Trust Region Policy Optimization and DeepQ-Network with Normalized Advantage Functions with respect to other state of the art algorithms, namely Deep Deterministic Policy…

Recent research has demonstrated the potential of reinforcement learning (RL) in enabling effective multi-robot collaboration, particularly in social dilemmas where robots face a trade-off between self-interests and collective benefits.…

The skill of pivoting an object with a robotic system is challenging for the external forces that act on the system, mainly given by contact interaction. The complexity increases when the same skills are required to generalize across…

While there have been significant strides in dexterous manipulation, most of it is limited to benchmark tasks like in-hand reorientation which are of limited utility in the real world. The main benefit of dexterous hands over two-fingered…

Learning to solve precision-based manipulation tasks from visual feedback using Reinforcement Learning (RL) could drastically reduce the engineering efforts required by traditional robot systems. However, performing fine-grained motor…

Humans naturally exhibit bilateral symmetry in their gross manipulation skills, effortlessly mirroring simple actions between left and right hands. Bimanual robots-which also feature bilateral symmetry-should similarly exploit this property…

Key to rich, dexterous manipulation in the real world is the ability to coordinate control across two hands. However, while the promise afforded by bimanual robotic systems is immense, constructing control policies for dual arm autonomous…

Recent advances in behavior cloning (BC) have enabled impressive visuomotor control policies. However, these approaches are limited by the quality of human demonstrations, the manual effort required for data collection, and the diminishing…

Reinforcement learning (RL), particularly its combination with deep neural networks referred to as deep RL (DRL), has shown tremendous promise across a wide range of applications, suggesting its potential for enabling the development of…

In-hand object manipulation is an important capability for dexterous manipulation. In this paper, we introduce a modeling and planning framework for in-hand object reconfiguration, focusing on frictional patch contacts between the robot's…

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…

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…