相关论文: Learning Dexterous Manipulation with Quantized Han…

Reinforcement learning is a promising method for robotic grasping as it can learn effective reaching and grasping policies in difficult scenarios. However, achieving human-like manipulation capabilities with sophisticated robotic hands is…

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.…

We present a diffusion-based model recipe for real-world control of a highly dexterous humanoid robotic hand, designed for sample-efficient learning and smooth fine-motor action inference. Our system features a newly designed 16-DoF…

This study introduces a novel language-guided diffusion-based learning framework, DexTOG, aimed at advancing the field of task-oriented grasping (TOG) with dexterous hands. Unlike existing methods that mainly focus on 2-finger grippers,…

This report describes our approach for Phase 3 of the Real Robot Challenge. To solve cuboid manipulation tasks of varying difficulty, we decompose each task into the following primitives: moving the fingers to the cuboid to grasp it,…

Despite the success of reinforcement learning methods, they have yet to have their breakthrough moment when applied to a broad range of robotic manipulation tasks. This is partly due to the fact that reinforcement learning algorithms are…

Q-learning is widely recognized as an effective approach for synthesizing controllers to achieve specific goals. However, handling challenges posed by continuous state-action spaces remains an ongoing research focus. This paper presents a…

In hand object reorientation provides capability for dexterous manipulation, requiring robust control policies to manage diverse object geometries, maintain stable grasps, and execute precise complex orientation trajectories. However, prior…

Effective execution of long-horizon tasks with dexterous robotic hands remains a significant challenge in real-world problems. While learning from human demonstrations have shown encouraging results, they require extensive data collection…

To train generalist robot policies, machine learning methods often require a substantial amount of expert human teleoperation data. An ideal robot for humans collecting data is one that closely mimics them: bimanual arms and dexterous…

Dexterous manipulation remains a challenging robotics problem, largely due to the difficulty of collecting extensive human demonstrations for learning. In this paper, we introduce \textsc{Gen2Real}, which replaces costly human demos with…

This work presents DemoBot, a learning framework that enables a dual-arm, multi-finger robotic system to acquire complex manipulation skills from a single unannotated RGB-D video demonstration. The method extracts structured motion…

Modern model-free reinforcement learning methods have recently demonstrated impressive results on a number of problems. However, complex domains like dexterous manipulation remain a challenge due to the high sample complexity. To address…

Humanoid robots promise general-purpose assistance, yet real-world humanoid loco-manipulation remains challenging because it requires whole-body stability, end-effector dexterity, and contact-aware interaction under frequent contact…

High cost and lack of reliability has precluded the widespread adoption of dexterous hands in robotics. Furthermore, the lack of a viable tactile sensor capable of sensing over the entire area of the hand impedes the rich, low-level…

We present a framework for learning dexterous in-hand manipulation with multifingered hands using visuomotor diffusion policies. Our system enables complex in-hand manipulation tasks, such as unscrewing a bottle lid with one hand, by…

Tactile sensing is crucial for robotic hands to achieve human-level dexterous manipulation, especially in scenarios with visual occlusion. However, its application is often hindered by the difficulty of collecting large-scale real-world…

Equipping quadruped robots with manipulators provides unique loco-manipulation capabilities, enabling diverse practical applications. This integration creates a more complex system that has increased difficulties in modeling and control.…

Commercially accessible dexterous robot hands are increasingly prevalent, but many remain difficult to use as scientific instruments. For example, the Inspire RH56DFX hand exposes only uncalibrated proprioceptive information and shows…

Reinforcement Learning (RL) training is predominantly conducted in cost-effective and controlled simulation environments. However, the transfer of these trained models to real-world tasks often presents unavoidable challenges. This research…