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Universal dexterous grasping across diverse objects presents a fundamental yet formidable challenge in robot learning.
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Learning complex dexterous manipulation with deep reinforcement learning and demonstrations
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Tom Silver, Kelsey Allen, Josh Tenenbaum, and Leslie Kaelbling · 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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Residual reinforcement learning for robot control
Tobias Johannink, Shikhar Bahl, Ashvin Nair, Jianlan Luo, Avinash Kumar, Matthias Loskyll, Juan Aparicio Ojea, Eugen Solowjow, and Sergey Levine · 2019
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Mcp: Learning composable hierarchical control with multiplicative compositional policies
Xue Bin Peng, Michael Chang, Grace Zhang, Pieter Abbeel, and Sergey Levine · 2019
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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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Krishan Rana, Ben Talbot, Vibhavari Dasagi, Michael Milford, and Niko Sünderhauf · 2020
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Improving policy optimization with generalist-specialist learning
Zhiwei Jia, Xuanlin Li, Zhan Ling, Shuang Liu, Yiran Wu, and Hao Su · 2022
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Dexvip: Learning dexterous grasping with human hand pose priors from video
Priyanka Mandikal and Kristen Grauman · 2022
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Albert Wu, Michelle Guo, and C Karen Liu · 2022
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Dexterous functional grasping
Ananye Agarwal, Shagun Uppal, Kenneth Shaw, and Deepak Pathak · 2023
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Unigrasp: Learning a unified model to grasp with multifingered robotic hands
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Gradient surgery for multi-task learning
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Residual reinforcement learning from demonstrations
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Dexycb: A benchmark for capturing hand grasping of objects
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Hand-object contact consistency reasoning for human grasps generation
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Isaac gym: High performance gpu-based physics simulation for robot learning
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Unidexgrasp++: Improving dexterous grasping policy learning via geometry-aware curriculum and iterative generalist-specialist learning
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Dexgraspnet: A large-scale robotic dexterous grasp dataset for general objects based on simulation
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Generalized anthropomorphic functional grasping with minimal demonstrations
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Unidexgrasp: Universal robotic dexterous grasping via learning diverse proposal generation and goal-conditioned policy
Yinzhen Xu, Weikang Wan, Jialiang Zhang, Haoran Liu, Zikang Shan, Hao Shen, Ruicheng Wang, Haoran Geng, Yijia Weng, Jiayi Chen, et al · 2023
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Acquiring diverse skills using curriculum reinforcement learning with mixture of experts
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