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We use reinforcement learning (RL) to learn dexterous in-hand manipulation policies which can perform vision-based object reorientation on a physical Shadow Dexterous Hand.
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Long short-term memory
S. Hochreiter and J. Schmidhuber · 1997
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In-hand manipulation in young children: rotation of an object in the fingers
C. Pehoski, A. Henderson, and L. Tickle-Degnen · 1997
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An exploration of nonprehensile two-palm manipulation
M. A. Erdmann · 1998
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L. Han and J. C. Trinkle · 1998
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Planning quasi-static fingertip manipulations for reconfiguring objects
M. Cherif and K. K. Gupta · 1999
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In-hand dexterous manipulation of piecewise-smooth 3-d objects
D. Rus · 1999
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Hands for dexterous manipulation and robust grasping: a difficult road toward simplicity
A. Bicchi · 2000
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Mechanics, planning, and control for tapping
W. H. Huang and M. T. Mason · 2000
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An overview of dexterous manipulation
A. M. Okamura, N. Smaby, and M. R. Cutkosky · 2000
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ShadowRobot Dexterous Hand
ShadowRobot · 2005
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Rectified linear units improve restricted boltzmann machines
V. Nair and G. E. Hinton · 2010
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Dynamic object manipulation using a virtual frame by a triple soft-fingered robotic hand
K. Tahara, S. Arimoto, and M. Yoshida · 2010
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On dexterity and dexterous manipulation
R. R. Ma and A. M. Dollar · 2011
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Contact-invariant optimization for hand manipulation
I. Mordatch, Z. Popovic, and E. Todorov · 2012
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Mujoco: A physics engine for model-based control
E. Todorov, T. Erez, and Y. Tassa · 2012
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On rolling contact motion by robotic fingers via prescribed performance control
Z. Doulgeri and L. Droukas · 2013
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Guided policy search
S. Levine and V. Koltun · 2013
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Rotary object dexterous manipulation in hand: a feedback-based method
Q. Li, M. Meier, R. Haschke, H. J. Ritter, and B. Bolder · 2013
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Dexterous manipulation using both palm and fingers
Y. Bai and C. K. Liu · 2014
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Extrinsic dexterity: In-hand manipulation with external forces
N. C. Dafle, A. Rodriguez, R. Paolini, B. Tang, S. S. Srinivasa, M. A. Erdmann, M. T. Mason, I. Lundberg, H. Staab, and T. A. Fuhlbrigge · 2014
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Learning invariant feature spaces to transfer skills with reinforcement learning
A. Gupta, C. Devin, Y. Liu, P. Abbeel, and S. Levine · 2017
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Dex-net 2.0: Deep learning to plan robust grasps with synthetic point clouds and analytic grasp metrics
J. Mahler, J. Liang, S. Niyaz, M. Laskey, R. Doan, X. Liu, J. A. Ojea, and K. Goldberg · 2017
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J. Mahler, M. Matl, X. Liu, A. Li, D. V. Gealy, and K. Goldberg · 2017
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Sim-to-real transfer of robotic control with dynamics randomization
X. B. Peng, M. Andrychowicz, W. Zaremba, and P. Abbeel · 2017
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Learning of grasp adaptation through experience and tactile sensing
M. Li, Y. Bekiroglu, D. Kragic, and A. Billard · 2014
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Learning object-level impedance control for robust grasping and dexterous manipulation
M. Li, H. Yin, K. Tahara, and A. Billard · 2014
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Deep spatial autoencoders for visuomotor learning
C. Finn, X. Y. Tan, Y. Duan, T. Darrell, S. Levine, and P. Abbeel · 2015
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Learning contact-rich manipulation skills with guided policy search
S. Levine, N. Wagener, and P. Abbeel · 2015
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High-dimensional continuous control using generalized advantage estimation
J. Schulman, P. Moritz, S. Levine, M. Jordan, and P. Abbeel · 2015
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L. Pinto, M. Andrychowicz, P. Welinder, W. Zaremba, and P. Abbeel · 2017
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Supervision via competition: Robot adversaries for learning tasks
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Robust adversarial reinforcement learning
L. Pinto, J. Davidson, R. Sukthankar, and A. Gupta · 2017
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Learning complex dexterous manipulation with deep reinforcement learning and demonstrations
A. Rajeswaran, V. Kumar, A. Gupta, J. Schulman, E. Todorov, and S. Levine · 2017
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Sim-to-real robot learning from pixels with progressive nets
A. A. Rusu, M. Vecerik, T. Rothörl, N. Heess, R. Pascanu, and R. Hadsell · 2017
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CAD2RL: real single-image flight without a single real image
F. Sadeghi and S. Levine · 2017
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Proximal policy optimization algorithms
J. Schulman, F. Wolski, P. Dhariwal, A. Radford, and O. Klimov · 2017
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Dynamic in-hand sliding manipulation
J. Shi, J. Z. Woodruff, P. B. Umbanhowar, and K. M. Lynch · 2017
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Domain randomization for transferring deep neural networks from simulation to the real world
J. Tobin, R. Fong, A. Ray, J. Schneider, W. Zaremba, and P. Abbeel · 2017
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Domain randomization and generative models for robotic grasping
J. Tobin, W. Zaremba, and P. Abbeel · 2017
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Preparing for the unknown: Learning a universal policy with online system identification
W. Yu, J. Tan, C. K. Liu, and G. Turk · 2017
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Distributed distributional deterministic policy gradients
G. Barth-Maron, M. W. Hoffman, D. Budden, W. Dabney, D. Horgan, D. TB, A. Muldal, N. Heess, and T. P. Lillicrap · 2018
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QT-Opt: Scalable Deep Reinforcement Learning for Vision-Based Robotic Manipulation
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Learning hand-eye coordination for robotic grasping with deep learning and large-scale data collection
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