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Dexterous multi-fingered hands can provide robots with the ability to flexibly perform a wide range of manipulation skills.
An overview of dexterous manipulation
A. M. Okamura, N. Smaby, and M. R. Cutkosky · 2000
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Dlr-hand ii: Next generation of a dextrous robot hand
J. Butterfaß, M. Grebenstein, H. Liu, and G. Hirzinger · 2001
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A natural policy gradient
S. M. Kakade · 2002
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GP-BayesFilters: Bayesian filtering using gaussian process prediction and observation models
J. Ko and D. Fox · 2008
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Push-grasping with dexterous hands: Mechanics and a method
M. R. Dogar and S. S. Srinivasa · 2010
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A model-based and data-efficient approach to policy search
M. Deisenroth and C. Rasmussen · 2011
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Contact-invariant optimization for hand manipulation
I. Mordatch, Z. Popović, and E. Todorov · 2012
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Toward fast policy search for learning legged locomotion
M. P. Deisenroth, R. Calandra, A. Seyfarth, and J. Peters · 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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Goal directed multi-finger manipulation: Control policies and analysis
S. Andrews and P. G. Kry · 2013
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A survey on policy search for robotics
M. P. Deisenroth, G. Neumann, J. Peters, et al · 2013
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The cross-entropy method for optimization
Z. I. Botev, D. P. Kroese, R. Y. Rubinstein, and P. L’Ecuyer · 2013
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Dexterous manipulation using both palm and fingers
Y. Bai and C. K. Liu · 2014
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Adam: A method for stochastic optimization
D. Kingma and J. Ba · 2014
Cited alongside, same era.
Learning robot in-hand manipulation with tactile features
H. Van Hoof, T. Hermans, G. Neumann, and J. Peters · 2015
Cited alongside, same era.
Deepmpc: Learning deep latent features for model predictive control
I. Lenz, R. A. Knepper, and A. Saxena · 2015
Cited alongside, same era.
Model predictive path integral control using covariance variable importance sampling
G. Williams, A. Aldrich, and E. Theodorou · 2015
Cited alongside, same era.
End-to-end training of deep visuomotor policies
S. Levine, C. Finn, T. Darrell, and P. Abbeel · 2016
Cited alongside, same era.
In-hand manipulation via motion cones
N. Chavan-Dafle, R. Holladay, and A. Rodriguez · 2018
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Learning dexterous in-hand manipulation
M. Andrychowicz, B. Baker, M. Chociej, R. Jozefowicz, B. McGrew, J. Pachocki, A. Petron, M. Plappert, G. Powell, A. Ray, et al · 2018
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Plan online, learn offline: Efficient learning and exploration via model-based control
K. Lowrey, A. Rajeswaran, S. Kakade, E. Todorov, and I. Mordatch · 2018
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Neural network dynamics for model-based deep reinforcement learning with model-free fine-tuning
A. Nagabandi, G. Kahn, R. S. Fearing, and S. Levine · 2018
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Deep reinforcement learning in a handful of trials using probabilistic dynamics models
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Z. Xu and E. Todorov · 2016
Cited alongside, same era.
Experimental validation of contact dynamics for in-hand manipulation
R. Kolbert, N. Chavan-Dafle, and A. Rodriguez · 2016
Cited alongside, same era.
Learning complex dexterous manipulation with deep reinforcement learning and demonstrations
A. Rajeswaran, V. Kumar, A. Gupta, G. Vezzani, J. Schulman, E. Todorov, and S. Levine · 2017
Cited alongside, same era.
Learning image-conditioned dynamics models for control of under-actuated legged millirobots
A. Nagabandi, G. Yang, T. Asmar, R. Pandya, G. Kahn, S. Levine, and R. S. Fearing · 2017
Cited alongside, same era.
Information theoretic mpc for model-based reinforcement learning
G. Williams, N. Wagener, B. Goldfain, P. Drews, J. M. Rehg, B. Boots, and E. A. Theodorou · 2017
Cited alongside, same era.
Model-based policy search for automatic tuning of multivariate PID controllers
A. Doerr, D. Nguyen-Tuong, A. Marco, S. Schaal, and S. Trimpe · 2017
Cited alongside, same era.
Geometric in-hand regrasp planning: Alternating optimization of finger gaits and in-grasp manipulation
B. Sundaralingam and T. Hermans · 2018
Cited alongside, same era.
K. Chua, R. Calandra, R. McAllister, and S. Levine · 2018
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Model-ensemble trust-region policy optimization
T. Kurutach, I. Clavera, Y. Duan, A. Tamar, and P. Abbeel · 2018
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Soft actor-critic: Off-policy maximum entropy deep reinforcement learning with a stochastic actor
T. Haarnoja, A. Zhou, P. Abbeel, and S. Levine · 2018
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Discovery of latent 3d keypoints via end-to-end geometric reasoning
S. Suwajanakorn, N. Snavely, J. Tompson, and M. Norouzi · 2018
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Dexterous manipulation with deep reinforcement learning: Efficient, general, and low-cost
H. Zhu, A. Gupta, A. Rajeswaran, S. Levine, and V. Kumar · 2019
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Calibrated model-based deep reinforcement learning
A. Malik, V. Kuleshov, J. Song, D. Nemer, H. Seymour, and S. Ermon · 2019
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Exploring model-based planning with policy networks
T. Wang and J. Ba · 2019
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When to trust your model: Model-based policy optimization
M. Janner, J. Fu, M. Zhang, and S. Levine · 2019
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