相关论文: Dexterous Robotic Piano Playing at Scale

This paper addresses the scarcity of affordable, fully-actuated five-fingered hands for dexterous teleoperation, which is crucial for collecting large-scale real-robot data within the "Learning from Demonstrations" paradigm. We introduce…

Manipulating objects to achieve desired goal states is a basic but important skill for dexterous manipulation. Human hand motions demonstrate proficient manipulation capability, providing valuable data for training robots with multi-finger…

We present DexMan, an automated framework that converts human visual demonstrations into bimanual dexterous manipulation skills for humanoid robots in simulation. Operating directly on third-person videos of humans manipulating rigid…

Recently, artificial intelligence techniques for education have been received increasing attentions, while it still remains an open problem to design the effective music instrument instructing systems. Although key presses can be directly…

Teaching a multi-fingered dexterous robot to grasp objects in the real world has been a challenging problem due to its high dimensional state and action space. We propose a robot-learning system that can take a small number of human…

Acquiring large-scale, high-fidelity robot demonstration data remains a critical bottleneck for scaling Vision-Language-Action (VLA) models in dexterous manipulation. We propose a Real-Sim-Real data collection and data editing pipeline that…

Human dexterity is an invaluable capability for precise manipulation of objects in complex tasks. The capability of robots to similarly grasp and perform in-hand manipulation of objects is critical for their use in the ever changing human…

Object handover is an important skill that we use daily when interacting with other humans. To deploy robots in collaborative setting, like houses, being able to receive and handing over objects safely and efficiently becomes a crucial…

Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…

We present a novel approach to synthesize dexterous motions for physically simulated hands in tasks that require coordination between the control of two hands with high temporal precision. Instead of directly learning a joint policy to…

Reinforcement learning (RL) and sim-to-real transfer have advanced rigid-object manipulation. However, policies remain brittle for articulated mechanisms due to contact-rich dynamics that require both stable grasping and simultaneous free…

Reinforcement learning in massively parallel physics simulations has driven major progress in sim-to-real robot learning. However, current approaches remain brittle and task-specific, relying on extensive per-task engineering to design…

The ability to manipulate tools significantly expands the set of tasks a robot can perform. Yet, tool manipulation represents a challenging class of dexterity, requiring grasping thin objects, in-hand object rotations, and forceful…

Despite recent advancements, existing prosthetic limbs are unable to replicate the dexterity and intuitive control of the human hand. Current control systems for prosthetic hands are often limited to grasping, and commercial prosthetic…

Dexterous manipulation, which refers to the ability of a robotic hand or multi-fingered end-effector to skillfully control, reorient, and manipulate objects through precise, coordinated finger movements and adaptive force modulation,…

Generating human-like behavior on robots is a great challenge especially in dexterous manipulation tasks with robotic hands. Scripting policies from scratch is intractable due to the high-dimensional control space, and training policies…

Piano fingering -- knowing which finger to use to play each note in a musical piece, is a hard and important skill to master when learning to play the piano. While some sheet music is available with expert-annotated fingering information,…

Dynamic tasks like table tennis are relatively easy to learn for humans but pose significant challenges to robots. Such tasks require accurate control of fast movements and precise timing in the presence of imprecise state estimation of the…

Dexterous object manipulation remains an open problem in robotics, despite the rapid progress in machine learning during the past decade. We argue that a hindrance is the high cost of experimentation on real systems, in terms of both time…

Human behavior is among the most scalable sources of data for learning physical intelligence, yet how to effectively leverage it for dexterous manipulation remains unclear. While prior work demonstrates human to robot transfer in…