相关论文: Closing the Reality Gap: Zero-Shot Sim-to-Real Dep…

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…

Dexterous robot hands offer rich opportunities for multifunctional manipulation, where a robot must execute multiple skills in sequence while maintaining control over previously grasped objects. Most prior work in dexterous manipulation…

Grasping is a fundamental capability for robots to interact with the physical world. Humans, equipped with two hands, autonomously select appropriate grasp strategies based on the shape, size, and weight of objects, enabling robust grasping…

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.…

Reinforcement learning (RL) algorithms can enable high-maneuverability in unmanned aerial vehicles (MAVs), but transferring them from simulation to real-world use is challenging. Variable-pitch propeller (VPP) MAVs offer greater agility,…

In order to mitigate the sample complexity of real-world reinforcement learning, common practice is to first train a policy in a simulator where samples are cheap, and then deploy this policy in the real world, with the hope that it…

A key challenge in contact-rich dexterous manipulation is the need to jointly reason over geometry, kinematic constraints, and intricate, nonsmooth contact dynamics. End-to-end visuomotor policies bypass this structure, but often require…

Articulated objects are ubiquitous in daily life. In this paper, we present DexSim2Real$^{2}$, a novel framework for goal-conditioned articulated object manipulation. The core of our framework is constructing an explicit world model of…

This paper explores policy-learning approaches in the context of sim-to-real transfer for robotic manipulation using a TIAGo mobile manipulator, focusing on two state-of-art simulators, Isaac Gym and Isaac Sim, both developed by Nvidia.…

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…

Using tactile sensors for manipulation remains one of the most challenging problems in robotics. At the heart of these challenges is generalization: How can we train a tactile-based policy that can manipulate unseen and diverse objects? In…

Tactile dexterous manipulation is essential to automating complex household tasks, yet learning effective control policies remains a challenge. While recent work has relied on imitation learning, obtaining high quality demonstrations for…

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…

Designing agile locomotion for quadruped robots often requires extensive expertise and tedious manual tuning. In this paper, we present a system to automate this process by leveraging deep reinforcement learning techniques. Our system can…

Human videos offer a scalable way to train robot manipulation policies, but lack the action labels needed by standard imitation learning algorithms. Existing cross-embodiment approaches try to map human motion to robot actions, but often…

Reaching-and-grasping is a fundamental skill for robotic manipulation, but existing methods usually train models on a specific gripper and cannot be reused on another gripper. In this paper, we propose a novel method that can learn a…

Flying through body-size narrow gaps in the environment is one of the most challenging moments for an underactuated multirotor. We explore a purely data-driven method to master this flight skill in simulation, where a neural network…

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…

Non-prehensile manipulation is challenging due to complex contact interactions between objects, the environment, and robots. Model-based approaches can efficiently generate complex trajectories of robots and objects under contact…

Learning generalist policies capable of accomplishing a plethora of everyday tasks remains an open challenge in dexterous manipulation. In particular, collecting large-scale manipulation data via real-world teleoperation is expensive and…