相关论文: Dexterous Manipulation through Imitation Learning:…

Robots are required to autonomously respond to changing situations. Imitation learning is a promising candidate for achieving generalization performance, and extensive results have been demonstrated in object manipulation. However,…

Human-like dexterous hands with multiple fingers offer human-level manipulation capabilities, but training control policies that can directly deploy on real hardware remains difficult due to contact-rich physics and imperfect actuation. We…

In this paper, we propose a method for training control policies for human-robot interactions such as handshakes or hand claps via Deep Reinforcement Learning. The policy controls a humanoid Shadow Dexterous Hand, attached to a robot arm.…

Dexterous grasping is a fundamental yet challenging skill in robotic manipulation, requiring precise interaction between robotic hands and objects. In this paper, we present $\mathcal{D(R,O)}$ Grasp, a novel framework that models the…

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…

Building hand-object models for dexterous in-hand manipulation remains a crucial and open problem. Major challenges include the difficulty of obtaining the geometric and dynamical models of the hand, object, and time-varying contacts, as…

Re-grasp manipulation leverages on ergonomic tools to assist humans in accomplishing diverse tasks. In certain scenarios, humans often employ external forces to effortlessly and precisely re-grasp tools like a hammer. Previous development…

Human hand actions are quite complex, especially when they involve object manipulation, mainly due to the high dimensionality of the hand and the vast action space that entails. Imitating those actions with dexterous hand models involves…

This paper proposes a new control framework for manipulating soft objects. A Deep Reinforcement Learning (DRL) approach is used to make the shape of a deformable object reach a set of desired points by controlling a robotic arm which…

While Vision-Language-Action (VLA) models have demonstrated promising generalization capabilities in robotic manipulation, deploying them on specific and complex downstream tasks still demands effective post-training. In parallel,…

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…

Recent advances have been made in learning of grasps for fully actuated hands. A typical approach learns the target locations of finger links on the object. When a new object must be grasped, new finger locations are generated, and a…

Dexterous robotic hands are appealing for their agility and human-like morphology, yet their high degree of freedom makes learning to manipulate challenging. We introduce an approach for learning dexterous grasping. Our key idea is to embed…

Imitation learning is an effective tool for robotic learning tasks where specifying a reinforcement learning (RL) reward is not feasible or where the exploration problem is particularly difficult. Imitation, typically behavior cloning or…

This paper comprehensively surveys research trends in imitation learning for contact-rich robotic tasks. Contact-rich tasks, which require complex physical interactions with the environment, represent a central challenge in robotics due to…

Humanoid robots have the potential to mimic human motions with high visual fidelity, yet translating these motions into practical, physical execution remains a significant challenge. Existing techniques in the graphics community often…

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…

Robotic Manipulation (RM) is central to the advancement of autonomous robots, enabling them to interact with and manipulate objects in real-world environments. This survey focuses on RM methodologies that leverage imitation learning, a…

Dexterous robotic hands enable robots to perform complex manipulations that require fine-grained control and adaptability. Achieving such manipulation is challenging because the high degrees of freedom tightly couple hand and arm motions,…

In this work, we propose algorithms and methods that enable learning dexterous object manipulation using simulated one- or two-armed robots equipped with multi-fingered hand end-effectors. Using a parallel GPU-accelerated physics simulator…