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We propose a sim-to-real framework for dexterous manipulation which can generalize to new objects of the same category in the real world.
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Digit: A novel design for a low-cost compact high-resolution tactile sensor with application to in-hand manipulation
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Generalization in dexterous manipulation via geometry-aware multi-task learning
W. Huang, I. Mordatch, P. Abbeel, and D. Pathak · 2021
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Deep imitation learning for complex manipulation tasks from virtual reality teleoperation
T. Zhang, Z. McCarthy, O. Jow, D. Lee, X. Chen, K. Goldberg, and P. Abbeel · 2018
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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 · 2018
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More than a feeling: Learning to grasp and regrasp using vision and touch
R. Calandra, A. Owens, D. Jayaraman, J. Lin, W. Yuan, J. Malik, E. H. Adelson, and S. Levine · 2018
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Learning to grasp without seeing
A. Murali, Y. Li, D. Gandhi, and A. Gupta · 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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Guided deep reinforcement learning of control policies for dexterous human-robot interaction
S. Christen, S. Stevšić, and O. Hilliges · 2019
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Pointnetgpd: Detecting grasp configurations from point sets
H. Liang, X. Ma, S. Li, M. Görner, S. Tang, B. Fang, F. Sun, and J. Zhang · 2019
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Coarse-to-fine imitation learning: Robot manipulation from a single demonstration
E. Johns · 2021
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Y. Qin, Y.-H. Wu, S. Liu, H. Jiang, R. Yang, Y. Fu, and X. Wang · 2021
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W. Wei, Y. Luo, F. Li, G. Xu, J. Zhong, W. Li, and P. Wang · 2021
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R. Bhirangi, T. Hellebrekers, C. Majidi, and A. Gupta · 2021
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Improved learning of robot manipulation tasks via tactile intrinsic motivation
N. Vulin, S. Christen, S. Stevšić, and O. Hilliges · 2021
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Towards learning to play piano with dexterous hands and touch
H. Xu, Y. Luo, S. Wang, T. Darrell, and R. Calandra · 2021
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A system for general in-hand object re-orientation
T. Chen, J. Xu, and P. Agrawal · 2022
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Learning generalizable dexterous manipulation from human grasp affordance
Y.-H. Wu, J. Wang, and X. Wang · 2022
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Close the visual domain gap by physics-grounded active stereovision depth sensor simulation
X. Zhang, R. Chen, F. Xiang, Y. Qin, J. Gu, Z. Ling, M. Liu, P. Zeng, S. Han, Z. Huang, et al · 2022
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Learning robust real-world dexterous grasping policies via implicit shape augmentation
Z. Q. Chen, K. Van Wyk, Y.-W. Chao, W. Yang, A. Mousavian, A. Gupta, and D. Fox · 2022
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From one hand to multiple hands: Imitation learning for dexterous manipulation from single-camera teleoperation
Y. Qin, H. Su, and X. Wang · 2022
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Dvgg: Deep variational grasp generation for dextrous manipulation
W. Wei, D. Li, P. Wang, Y. Li, W. Li, Y. Luo, and J. Zhong · 2022
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Goal-auxiliary actor-critic for 6d robotic grasping with point clouds
L. Wang, Y. Xiang, W. Yang, A. Mousavian, and D. Fox · 2022
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