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Recent studies have made significant progress in addressing dexterous manipulation problems, particularly in in-hand object reorientation.
A unified approach for motion and force control of robot manipulators: The operational space formulation
O. Khatib · 1987
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Robot hands and the mechanics of manipulation
M. T. Mason, J. K. Salisbury, and J. K. Parker · 1989
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In-hand dexterous manipulation of piecewise-smooth 3-d objects
D. Rus · 1999
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An overview of dexterous manipulation
A. M. Okamura, N. Smaby, and M. R. Cutkosky · 2000
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Dynamic pen spinning using a high-speed multifingered hand with high-speed tactile sensor
T. Ishihara, A. Namiki, M. Ishikawa, and M. Shimojo · 2006
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Dynamic regrasping using a high-speed multifingered hand and a high-speed vision system
N. Furukawa, A. Namiki, S. Taku, and M. Ishikawa · 2006
Earlier work this paper cites.
A reduction of imitation learning and structured prediction to no-regret online learning
S. Ross, G. Gordon, and D. Bagnell · 2011
Earlier work this paper cites.
Contact-invariant optimization for hand manipulation
I. Mordatch, Z. Popović, and E. Todorov · 2012
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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. Erdmann, M. T. Mason, I. Lundberg, H. Staab, and T. Fuhlbrigge · 2014
Earlier work this paper cites.
Dexterous manipulation using both palm and fingers
Y. Bai and C. K. Liu · 2014
Earlier work this paper cites.
Learning robot in-hand manipulation with tactile features
H. Van Hoof, T. Hermans, G. Neumann, and J. Peters · 2015
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Learning dexterous manipulation policies from experience and imitation
V. Kumar, A. Gupta, E. Todorov, and S. Levine · 2016
Earlier work this paper cites.
Generative adversarial imitation learning
J. Ho and S. Ermon · 2016
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Vision-based model predictive control for within-hand precision manipulation with underactuated grippers
B. Calli and A. M. Dollar · 2017
Earlier work this paper cites.
Asymmetric actor critic for image-based robot learning
L. Pinto, M. Andrychowicz, P. Welinder, W. Zaremba, and P. Abbeel · 2017
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A. Vaswani, N. Shazeer, N. Parmar, J. Uszkoreit, L. Jones, A. N. Gomez, Ł. Kaiser, and I. Polosukhin · 2017
Cited alongside, same era.
Learning modes of within-hand manipulation
B. Calli, K. Srinivasan, A. Morgan, and A. M. Dollar · 2018
Cited alongside, same era.
Sim-to-real: Learning agile locomotion for quadruped robots
J. Tan, T. Zhang, E. Coumans, A. Iscen, Y. Bai, D. Hafner, S. Bohez, and V. Vanhoucke · 2018
Cited alongside, same era.
Deep object pose estimation for semantic robotic grasping of household objects
J. Tremblay, T. To, B. Sundaralingam, Y. Xiang, D. Fox, and S. Birchfield · 2018
Cited alongside, same era.
Relaxed-rigidity constraints: kinematic trajectory optimization and collision avoidance for in-grasp manipulation
B. Sundaralingam and T. Hermans · 2019
Cited alongside, same era.
Rma: Rapid motor adaptation for legged robots
A. Kumar, Z. Fu, D. Pathak, and J. Malik · 2021
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Amp: Adversarial motion priors for stylized physics-based character control
X. B. Peng, Z. Ma, P. Abbeel, S. Levine, and A. Kanazawa · 2021
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Isaac gym: High performance GPU based physics simulation for robot learning
V. Makoviychuk, L. Wawrzyniak, Y. Guo, M. Lu, K. Storey, M. Macklin, D. Hoeller, N. Rudin, A. Allshire, A. Handa, and G. State · 2021
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Global planning for contact-rich manipulation via local smoothing of quasi-dynamic contact models
T. Pang, H. Suh, L. Yang, and R. Tedrake · 2022
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Complex in-hand manipulation via compliance-enabled finger gaiting and multi-modal planning
A. S. Morgan, K. Hang, B. Wen, K. Bekris, and A. M. Dollar · 2022
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Solving rubik’s cube with a robot hand
OpenAI, I. Akkaya, M. Andrychowicz, M. Chociej, M. Litwin, B. McGrew, A. Petron, A. Paino, M. Plappert, G. Powell, R. Ribas, et al · 2019
Cited alongside, same era.
Drake: Model-based design and verification for robotics, 2019
R. Tedrake and the Drake Development Team · 2019
Cited alongside, same era.
A dexterous soft robotic hand for delicate in-hand manipulation
S. Abondance, C. B. Teeple, and R. J. Wood · 2020
Cited alongside, same era.
Deep dynamics models for learning dexterous manipulation
A. Nagabandi, K. Konolige, S. Levine, and V. Kumar · 2020
Cited alongside, same era.
Learning dexterous in-hand manipulation
O. M. Andrychowicz, B. Baker, M. Chociej, R. Józefowicz, B. McGrew, J. Pachocki, A. Petron, M. Plappert, G. Powell, A. Ray, J. Schneider, S. Sidor, J. Tobin, P. Welinder, L. Weng, and W. Zaremba · 2020
Cited alongside, same era.
Learning quadrupedal locomotion over challenging terrain
J. Lee, J. Hwangbo, L. Wellhausen, V. Koltun, and M. Hutter · 2020
Cited alongside, same era.
Learning by cheating
D. Chen, B. Zhou, V. Koltun, and P. Krähenbühl · 2020
Cited alongside, same era.
A. Handa, A. Allshire, V. Makoviychuk, A. Petrenko, R. Singh, J. Liu, D. Makoviichuk, K. Van Wyk, A. Zhurkevich, B. Sundaralingam, et al · 2022
Later among the works it cites.
On the feasibility of learning finger-gaiting in-hand manipulation with intrinsic sensing
G. Khandate, M. Haas-Heger, and M. Ciocarlie · 2022
Later among the works it cites.
Transferring dexterous manipulation from gpu simulation to a remote real-world trifinger
A. Allshire, M. MittaI, V. Lodaya, V. Makoviychuk, D. Makoviichuk, F. Widmaier, M. Wüthrich, S. Bauer, A. Handa, and A. Garg · 2022
Later among the works it cites.
Rotating without seeing: Towards in-hand dexterity through touch
Z.-H. Yin, B. Huang, Y. Qin, Q. Chen, and X. Wang · 2023
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In-hand object rotation via rapid motor adaptation
H. Qi, A. Kumar, R. Calandra, Y. Ma, and J. Malik · 2023
Later among the works it cites.
Dextrous tactile in-hand manipulation using a modular reinforcement learning architecture
J. Pitz, L. Röstel, L. Sievers, and B. Bäuml · 2023
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Leap hand: Low-cost, efficient, and anthropomorphic hand for robot learning
K. Shaw, A. Agarwal, and D. Pathak · 2023
Later among the works it cites.
Objaverse: A universe of annotated 3d objects
M. Deitke, D. Schwenk, J. Salvador, L. Weihs, O. Michel, E. VanderBilt, L. Schmidt, K. Ehsani, A. Kembhavi, and A. Farhadi · 2023
Later among the works it cites.
Grounded sam: Assembling open-world models for diverse visual tasks
T. Ren, S. Liu, A. Zeng, J. Lin, K. Li, H. Cao, J. Chen, X. Huang, Y. Chen, F. Yan, et al · 2024
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