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In-hand manipulation of pen-like objects is an important skill in our daily lives, as many tools such as hammers and screwdrivers are similarly shaped.
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, J. Schneider, N. Tezak, J. Tworek, P. Welinder, L. Weng, Q. Yuan, W. Zaremba, and L. Zhang · 1910
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Implementing a force strategy for object re-orientation
R. Fearing · 1986
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Dextrous manipulation by rolling and finger gaiting
L. Han and J. C. Trinkle · 1998
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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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A reduction of imitation learning and structured prediction to no-regret online learning
S. Ross, G. Gordon, and D. Bagnell · 2011
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Contact-invariant optimization for hand manipulation
I. Mordatch, Z. Popović, 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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Dexterous manipulation using both palm and fingers
Y. Bai and C. K. Liu · 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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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
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Pointnet: Deep learning on point sets for 3d classification and segmentation
C. R. Qi, H. Su, K. Mo, and L. J. Guibas · 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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Se(3)-tracknet: Data-driven 6d pose tracking by calibrating image residuals in synthetic domains
B. Wen, C. Mitash, B. Ren, and K. E. Bekris · 2020
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Surprisingly robust in-hand manipulation: An empirical study
A. Bhatt, A. Sieler, S. Puhlmann, and O. Brock · 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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Solving challenging dexterous manipulation tasks with trajectory optimisation and reinforcement learning
H. J. Charlesworth and G. Montana · 2021
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In-hand object rotation via rapid motor adaptation
H. Qi, A. Kumar, R. Calandra, Y. Ma, and J. Malik · 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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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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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
Cited alongside, same era.
Towards learning to play piano with dexterous hands and touch
H. Xu, Y. Luo, S. Wang, T. Darrell, and R. Calandra · 2022
Cited alongside, same era.
Towards human-level bimanual dexterous manipulation with reinforcement learning
Y. Chen, T. Wu, S. Wang, X. Feng, J. Jiang, Z. Lu, S. McAleer, H. Dong, S.-C. Zhu, and Y. Yang · 2022
Cited alongside, same era.
Dexpoint: Generalizable point cloud reinforcement learning for sim-to-real dexterous manipulation
Y. Qin, B. Huang, Z.-H. Yin, H. Su, and X. Wang · 2022
Cited alongside, same era.
Dynamic manipulation like normal-type pen spinning by a high-speed robot hand and a high-speed vision system
S. Nakatani and Y. Yamakawa · 2023
Cited alongside, same era.
Task-oriented dexterous grasp synthesis via differentiable grasp wrench boundary estimator
J. Chen, Y. Chen, J. Zhang, and H. Wang · 2023
Later among the works it cites.
Sequential dexterity: Chaining dexterous policies for long-horizon manipulation
Y. Chen, C. Wang, L. Fei-Fei, and C. K. Liu · 2023
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Dynamic handover: Throw and catch with bimanual hands
B. Huang, Y. Chen, T. Wang, Y. Qin, Y. Yang, N. Atanasov, and X. Wang · 2023
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Robopianist: Dexterous piano playing with deep reinforcement learning
K. Zakka, P. Wu, L. Smith, N. Gileadi, T. Howell, X. B. Peng, S. Singh, Y. Tassa, P. Florence, A. Zeng, et al · 2023
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Dexart: Benchmarking generalizable dexterous manipulation with articulated objects
C. Bao, H. Xu, Y. Qin, and X. Wang · 2023
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Dexterous imitation made easy: A learning-based framework for efficient dexterous manipulation
S. P. Arunachalam, S. Silwal, B. Evans, and L. Pinto · 2023
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Teach a robot to fish: Versatile imitation from one minute of demonstrations
S. Haldar, J. Pari, A. Rai, and L. Pinto · 2023
Cited alongside, same era.
Visual dexterity: In-hand reorientation of novel and complex object shapes
T. Chen, M. Tippur, S. Wu, V. Kumar, E. Adelson, and P. Agrawal · 2023
Cited alongside, same era.
Rotating without seeing: Towards in-hand dexterity through touch
Z.-H. Yin, B. Huang, Y. Qin, Q. Chen, and X. Wang · 2023
Cited alongside, same era.
In-hand cube reconfiguration: Simplified
S. Patidar, A. Sieler, and O. Brock · 2023
Cited alongside, same era.
Dexterous soft hands linearize feedback-control for in-hand manipulation
A. Sieler and O. Brock · 2023
Cited alongside, same era.
Holo-dex: Teaching dexterity with immersive mixed reality
S. P. Arunachalam, I. Güzey, S. Chintala, and L. Pinto · 2023
Cited alongside, same era.
Learning fine-grained bimanual manipulation with low-cost hardware
T. Z. Zhao, V. Kumar, S. Levine, and C. Finn · 2023
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Dexterous functional grasping
A. Agarwal, S. Uppal, K. Shaw, and D. Pathak · 2023
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Dexcap: Scalable and portable mocap data collection system for dexterous manipulation
C. Wang, H. Shi, W. Wang, R. Zhang, L. Fei-Fei, and C. K. Liu · 2024
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Robot synesthesia: In-hand manipulation with visuotactile sensing
Y. Yuan, H. Che, Y. Qin, B. Huang, Z.-H. Yin, K.-W. Lee, Y. Wu, S.-C. Lim, and X. Wang · 2024
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Tilde: Teleoperation for dexterous in-hand manipulation learning with a deltahand
Z. Si, K. L. Zhang, Z. Temel, and O. Kroemer · 2024
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Open teach: A versatile teleoperation system for robotic manipulation
A. Iyer, Z. Peng, Y. Dai, I. Guzey, S. Haldar, S. Chintala, and L. Pinto · 2024
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3d diffusion policy
Y. Ze, G. Zhang, K. Zhang, C. Hu, M. Wang, and H. Xu · 2024
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Learning visuotactile skills with two multifingered hands
T. Lin, Y. Zhang, Q. Li, H. Qi, B. Yi, S. Levine, and J. Malik · 2024
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G. Khandate, T. L. Saidi, S. Shang, E. T. Chang, Y. Liu, S. Dennis, J. Adams, and M. Ciocarlie · 2024
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Anyrotate: Gravity-invariant in-hand object rotation with sim-to-real touch
M. Yang, C. Lu, A. Church, Y. Lin, C. Ford, H. Li, E. Psomopoulou, D. A. Barton, and N. F. Lepora · 2024
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Twisting lids off with two hands
T. Lin, Z.-H. Yin, H. Qi, P. Abbeel, and J. Malik · 2024
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Reconciling reality through simulation: A real-to-sim-to-real approach for robust manipulation
M. Torne, A. Simeonov, Z. Li, A. Chan, T. Chen, A. Gupta, and P. Agrawal · 2024
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Cyberdemo: Augmenting simulated human demonstration for real-world dexterous manipulation
J. Wang, Y. Qin, K. Kuang, Y. Korkmaz, A. Gurumoorthy, H. Su, and X. Wang · 2024
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Transic: Sim-to-real policy transfer by learning from online correction
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Eureka: Human-level reward design via coding large language models
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