相关论文: Learning Dexterous In-Hand Manipulation with Multi…

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…

Dexterous in-hand manipulation remains a foundational challenge in robotics, with progress often constrained by the prevailing paradigm of imitating the human hand. This anthropomorphic approach creates two critical barriers: 1) it limits…

Recent advancements in teleoperation systems have enabled high-quality data collection for robotic manipulators, showing impressive results in learning manipulation at scale. This progress suggests that extending these capabilities to…

This paper introduces RoboDexVLM, an innovative framework for robot task planning and grasp detection tailored for a collaborative manipulator equipped with a dexterous hand. Previous methods focus on simplified and limited manipulation…

Dexterous manipulation enables complex tasks but suffers from self-occlusion, severe depth noise, and depth information loss when manipulating transparent objects. To solve this problem, this paper proposes TransDex, a 3D visuo-tactile…

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…

Teleoperation offers the possibility of imparting robotic systems with sophisticated reasoning skills, intuition, and creativity to perform tasks. However, current teleoperation solutions for high degree-of-actuation (DoA), multi-fingered…

Dexterous multi-fingered robotic hands have a formidable action space, yet their morphological similarity to the human hand holds immense potential to accelerate robot learning. We propose DexVIP, an approach to learn dexterous robotic…

Hand gesture is one of the most important means of touchless communication between human and machines. There is a great interest for commanding electronic equipment in surgery rooms by hand gesture for reducing the time of surgery and the…

Dexterous manipulation is essential for real-world robot autonomy, mirroring the central role of human hand coordination in daily activity. Humans rely on rich multimodal perception--vision, sound, and language-guided intent--to perform…

Replicating human--level dexterity remains a fundamental robotics challenge, requiring integrated solutions from mechatronic design to the control of high degree--of--freedom (DoF) robotic hands. While imitation learning shows promise in…

Grasping large and flat objects (e.g. a book or a pan) is often regarded as an ungraspable task, which poses significant challenges due to the unreachable grasping poses. Previous works leverage Extrinsic Dexterity like walls or table edges…

This paper tackles the challenge of learning multi-goal dexterous hand manipulation tasks using model-based Reinforcement Learning. We propose Goal-Conditioned Probabilistic Model Predictive Control (GC-PMPC) by designing probabilistic…

Reinforcement learning and sim-to-real transfer have made significant progress in dexterous manipulation. However, progress remains limited by the difficulty of simulating complex contact dynamics and multisensory signals, especially…

Learning fine-grained movements is a challenging topic in robotics, particularly in the context of robotic hands. One specific instance of this challenge is the acquisition of fingerspelling sign language in robots. In this paper, we…

Bimanual dexterous manipulation relies on integrating multimodal inputs to perform complex real-world tasks. To address the challenges of effectively combining these modalities, we propose DECO, a decoupled multimodal diffusion transformer…

Many objects, such as tools and household items, can be used only if grasped in a very specific way - grasped functionally. Often, a direct functional grasp is not possible, though. We propose a method for learning a dexterous pre-grasp…

Diffusion policies have demonstrated strong performance in generative modeling, making them promising for robotic manipulation guided by natural language instructions. However, generalizing language-conditioned diffusion policies to…

Dexterous in-hand manipulation in robotics, particularly with multi-fingered robotic hands, poses significant challenges due to the intricate avoidance of collisions among fingers and the object being manipulated. Collision-free paths for…

Achieving human-like dexterous manipulation remains a major challenge for general-purpose robots. While Vision-Language-Action (VLA) models show potential in learning skills from demonstrations, their scalability is limited by scarce…