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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.
Articulated hands: Force control and kinematic issues
J. Kenneth Salisbury and John J. Craig · 1982
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Robot Hands and the Mechanics of Manipulation
Matthew T. Mason and J. Kenneth Salisbury · 1985
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Retargetting motion to new characters
Michael Gleicher · 1998
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GraspIt! a versatile simulator for robotic grasping
Andrew T. Miller and Peter K. Allen · 2004
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Dexterous manipulation using both palm and fingers
Yunfei Bai and C. Karen Liu · 2014
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Real-time behaviour synthesis for dynamic hand-manipulation
Vikash Kumar, Yuval Tassa, Tom Erez, and Emanuel Todorov · 2014
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The YCB object and model set: Towards common benchmarks for manipulation research
Berk Calli, Arjun Singh, Aaron Walsman, Siddhartha Srinivasa, Pieter Abbeel, and Aaron M. Dollar · 2015
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Learning dexterous manipulation for a soft robotic hand from human demonstrations
Abhishek Gupta, Clemens Eppner, Sergey Levine, and Pieter Abbeel · 2016
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The CMA evolution strategy: A tutorial
Nikolaus Hansen · 2016
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Optimal control with learned local models: Application to dexterous manipulation
Vikash Kumar, Emanuel Todorov, and Sergey Levine · 2016
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Dex-Net 2.0: Deep learning to plan robust grasps with synthetic point clouds and analytic grasp metrics
Jeffrey Mahler, Jacky Liang, Sherdil Niyaz, Michael Laskey, Richard Doan, Xinyu Liu, Juan Aparicio Ojea, and Ken Goldberg · 2017
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PointNet++: Deep hierarchical feature learning on point sets in a metric space
Charles Ruizhongtai Qi, Li Yi, Hao Su, and Leonidas J. Guibas · 2017
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Embodied hands: Modeling and capturing hands and bodies together
Javier Romero, Dimitrios Tzionas, and Michael J. Black · 2017
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First-person hand action benchmark with RGB-D videos and 3D hand pose annotations
Guillermo Garcia-Hernando, Shanxin Yuan, Seungryul Baek, and Tae-Kyun Kim · 2018
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Learning dexterous in-hand manipulation
OpenAI, Marcin Andrychowicz, Bowen Baker, Maciek Chociej, Rafal Józefowicz, Bob McGrew, Jakub Pachocki, Arthur Petron, Matthias Plappert, Glenn Powell, Alex Ray, Jonas Schneider, Szymon Sidor, Josh Tobin, Peter Welinder, Lilian Weng, and Wojciech Zaremba · 2018
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Learning complex dexterous manipulation with deep reinforcement learning and demonstrations
Aravind Rajeswaran, Vikash Kumar, Abhishek Gupta, Giulia Vezzani, John Schulman, Emanuel Todorov, and Sergey Levine · 2018
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ContactGrasp: Functional multi-finger grasp synthesis from contact
Samarth Brahmbhatt, Ankur Handa, James Hays, and Dieter Fox · 2019
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Learning joint reconstruction of hands and manipulated objects
Yana Hasson, Gul Varol, Dimitrios Tzionas, Igor Kalevatykh, Michael J. Black, Ivan Laptev, and Cordelia Schmid · 2019
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Learning deep visuomotor policies for dexterous hand manipulation
Divye Jain, Andrew Li, Shivam Li, Aravind Rajeswaran, Vikash Kumar, and Emanuel Todorov · 2019
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Pyrender
Matthew Matl · 2019
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6-DOF GraspNet: Variational grasp generation for object manipulation
Learning task-oriented grasping from human activity datasets
Mia Kokic, Danica Kragic, and Jeannette Bohg · 2020
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Grasping in the wild: Learning 6DoF closed-loop grasping from low-cost demonstrations
Shuran Song, Andy Zeng, Johnny Lee, and Thomas Funkhouser · 2020
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GRAB: A dataset of whole-body human grasping of objects
Omid Taheri, Nima Ghorbani, Michael J. Black, and Dimitrios Tzionas · 2020
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Learning RGB-D feature embeddings for unseen object instance segmentation
Yu Xiang, Christopher Xie, Arsalan Mousavian, and Dieter Fox · 2020
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Visual imitation made easy
Sarah Young, Dhiraj Gandhi, Shubham Tulsiani, Abhinav Gupta, Pieter Abbeel, and Lerrel Pinto · 2020
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DexYCB: A benchmark for capturing hand grasping of objects
Yu-Wei Chao, Wei Yang, Yu Xiang, Pavlo Molchanov, Ankur Handa, Jonathan Tremblay, Yashraj S. Narang, Karl Van Wyk, Umar Iqbal, Stan Birchfield, Jan Kautz, and Dieter Fox · 2021
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Arsalan Mousavian, Clemens Eppner, and Dieter Fox · 2019
Cited alongside, same era.
Deep dynamics models for learning dexterous manipulation
Anusha Nagabandi, Kurt Konoglie, Sergey Levine, and Vikash Kumar · 2019
Cited alongside, same era.
Solving Rubik’s cube with a robot hand
OpenAI, Ilge Akkaya, Marcin Andrychowicz, Maciek Chociej, Mateusz Litwin, Bob McGrew, Arthur Petron, Alex Paino, Matthias Plappert, Glenn Powell, Raphael Ribas, Jonas Schneider, Nikolas Tezak, Jerry Tworek, Peter Welinder, Lilian Weng, Qiming Yuan, Wojciech Zaremba, and Lei Zhang · 2019
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Dexterous manipulation with deep reinforcement learning: Efficient, general, and low-cost
Henry Zhu, Abhishek Gupta, Aravind Rajeswaran, Sergey Levine, and Vikash Kumar · 2019
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A PyTorch extension: Tools for easy mixed precision and distributed training in PyTorch
NVIDIA Corporation · 2020
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Physics-based dexterous manipulations with estimated hand poses and residual reinforcement learning
Guillermo Garcia-Hernando, Edward Johns, and Tae-Kyun Kim · 2020
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DexPilot: Vision-based teleoperation of dexterous robotic hand-arm system
Ankur Handa, Karl Van Wyk, Wei Yang, Jacky Liang, Yu-Wei Chao, Qian Wan, Stan Birchfield, Nathan Ratliff, and Dieter Fox · 2020
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A system for general in-hand object re-orientation
Tao Chen, Jie Xu, and Pulkit Agrawal · 2021
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D-Grasp: Physically plausible dynamic grasp synthesis for hand-object interactions
Sammy Christen, Muhammed Kocabas, Emre Aksan, Jemin Hwangbo, Jie Song, and Otmar Hilliges · 2021
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PyBullet: a Python module for physics simulation for games, robotics and machine learning
Erwin Coumans and Yunfei Bai · 2021
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DexMV: Imitation learning for dexterous manipulation from human videos
Yuzhe Qin, Yueh-Hua Wu, Shaowei Liu, Hanwen Jiang, Ruihan Yang, Yang Fu, and Xiaolong Wang · 2021
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State-only imitation learning for dexterous manipulation
Ilija Radosavovic, Xiaolong Wang, Lerrel Pinto, and Jitendra Malik · 2021
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Contact-graspnet: Efficient 6-dof grasp generation in cluttered scenes
Martin Sundermeyer, Arsalan Mousavian, Rudolph Triebel, and Dieter Fox · 2021
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ManipNet: Neural manipulation synthesis with a hand-object spatial representation
He Zhang, Yuting Ye, Takaaki Shiratori, and Taku Komura · 2021
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Geometric fabrics: Generalizing classical mechanics to capture the physics of behavior
Karl Van Wyk, Man Xie, Anqi Li, Muhammad Asif Rana, Buck Babich, Bryan Peele, Qian Wan, Iretiayo Akinola, Balakumar Sundaralingam, Dieter Fox, Byron Boots, and Nathan Ratliff · 2022
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