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Manipulating objects to achieve desired goal states is a basic but important skill for dexterous manipulation.
Robot hands and the mechanics of manipulation
M. T. Mason and J. K. Salisbury Jr · 1985
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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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Synthesis of detailed hand manipulations using contact sampling
Y. Ye and C. K. Liu · 2012
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Dexterous manipulation using both palm and fingers
Y. Bai and C. K. Liu · 2014
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Real-time behaviour synthesis for dynamic hand-manipulation
V. Kumar, Y. Tassa, T. Erez, and E. Todorov · 2014
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Generative adversarial imitation learning
J. Ho and S. Ermon · 2016
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Policy distillation
A. A. Rusu, S. G. Colmenarejo, Ç. Gülçehre, G. Desjardins, J. Kirkpatrick, R. Pascanu, V. Mnih, K. Kavukcuoglu, and R. Hadsell · 2016
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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 · 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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Y. Tassa, Y. Doron, A. Muldal, T. Erez, Y. Li, D. d. L. Casas, D. Budden, A. Abdolmaleki, J. Merel, A. Lefrancq, et al · 2018
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Ffrob: Leveraging symbolic planning for efficient task and motion planning
C. R. Garrett, T. Lozano-Perez, and L. P. Kaelbling · 2018
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First-person hand action benchmark with rgb-d videos and 3d hand pose annotations
G. Garcia-Hernando, S. Yuan, S. Baek, and T.-K. Kim · 2018
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Deepmimic: Example-guided deep reinforcement learning of physics-based character skills
X. B. Peng, P. Abbeel, S. Levine, and M. Van de Panne · 2018
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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, J. Schneider, N. Tezak, J. Tworek, P. Welinder, L. Weng, Q. Yuan, W. Zaremba, and L. Zhang · 2019
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Learning joint reconstruction of hands and manipulated objects
Y. Hasson, G. Varol, D. Tzionas, I. Kalevatykh, M. J. Black, I. Laptev, and C. Schmid · 2019
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Rlbench: The robot learning benchmark & learning environment
S. James, Z. Ma, D. R. Arrojo, and A. J. Davison · 2020
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Dexpilot: Vision-based teleoperation of dexterous robotic hand-arm system
A. Handa, K. Van Wyk, W. Yang, J. Liang, Y.-W. Chao, Q. Wan, S. Birchfield, N. Ratliff, and D. Fox · 2020
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Grab: A dataset of whole-body human grasping of objects
O. Taheri, N. Ghorbani, M. J. Black, and D. Tzionas · 2020
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Meta-world: A benchmark and evaluation for multi-task and meta reinforcement learning
T. Yu, D. Quillen, Z. He, R. Julian, K. Hausman, C. Finn, and S. Levine · 2020
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Integrated task and motion planning
C. R. Garrett, R. Chitnis, R. Holladay, B. Kim, T. Silver, L. P. Kaelbling, and T. Lozano-Pérez · 2021
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A system for general in-hand object re-orientation
T. Chen, J. Xu, and P. Agrawal · 2021
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Reset-free reinforcement learning via multi-task learning: Learning dexterous manipulation behaviors without human intervention
A. Gupta, J. Yu, T. Z. Zhao, V. Kumar, A. Rovinsky, K. Xu, T. Devlin, and S. Levine · 2021
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State-only imitation learning for dexterous manipulation
I. Radosavovic, X. Wang, L. Pinto, and J. Malik · 2021
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Learning dexterous grasping with object-centric visual affordances
P. Mandikal and K. Grauman · 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
Cited alongside, same era.
Solving challenging dexterous manipulation tasks with trajectory optimisation and reinforcement learning
H. J. Charlesworth and G. Montana · 2021
Cited alongside, same era.
Language models as zero-shot planners: Extracting actionable knowledge for embodied agents
W. Huang, P. Abbeel, D. Pathak, and I. Mordatch · 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.
Visual dexterity: In-hand dexterous manipulation from depth
T. Chen, M. Tippur, S. Wu, V. Kumar, E. Adelson, and P. Agrawal · 2022
Cited alongside, same era.
Sampling-based exploration for reinforcement learning of dexterous manipulation
G. Khandate, S. Shang, E. T. Chang, T. L. Saidi, Y. Liu, S. M. Dennis, J. Adams, and M. Ciocarlie · 2023
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Dexterous manipulation from images: Autonomous real-world rl via substep guidance
K. Xu, Z. Hu, R. Doshi, A. Rovinsky, V. Kumar, A. Gupta, and S. Levine · 2023
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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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Robopianist: A benchmark for high-dimensional robot control
K. Zakka, L. Smith, N. Gileadi, T. Howell, X. B. Peng, S. Singh, Y. Tassa, P. Florence, A. Zeng, and P. Abbeel · 2023
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Holo-dex: Teaching dexterity with immersive mixed reality
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A. Handa, A. Allshire, V. Makoviychuk, A. Petrenko, R. Singh, J. Liu, D. Makoviichuk, K. Van Wyk, A. Zhurkevich, B. Sundaralingam, et al · 2022
Cited alongside, same era.
Robotic telekinesis: Learning a robotic hand imitator by watching humans on youtube
A. Sivakumar, K. Shaw, and D. Pathak · 2022
Cited alongside, same era.
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.
Dexmv: Imitation learning for dexterous manipulation from human videos
Y. Qin, Y.-H. Wu, S. Liu, H. Jiang, R. Yang, Y. Fu, and X. Wang · 2022
Cited alongside, same era.
From play to policy: Conditional behavior generation from uncurated robot data
Z. J. Cui, Y. Wang, N. M. M. Shafiullah, and L. Pinto · 2022
Cited alongside, same era.
From one hand to multiple hands: Imitation learning for dexterous manipulation from single-camera teleoperation
Y. Qin, H. Su, and X. Wang · 2022
Cited alongside, same era.
Dexterous imitation made easy: A learning-based framework for efficient dexterous manipulation
S. P. Arunachalam, S. Silwal, B. Evans, and L. Pinto · 2022
Cited alongside, same era.
S. P. Arunachalam, I. Güzey, S. Chintala, and L. Pinto · 2023
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Dexterity from touch: Self-supervised pre-training of tactile representations with robotic play
I. Guzey, B. Evans, S. Chintala, and L. Pinto · 2023
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Anyteleop: A general vision-based dexterous robot arm-hand teleoperation system
Y. Qin, W. Yang, B. Huang, K. Van Wyk, H. Su, X. Wang, Y.-W. Chao, and D. Fox · 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
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See to touch: Learning tactile dexterity through visual incentives
I. Guzey, Y. Dai, B. Evans, S. Chintala, and L. Pinto · 2023
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Affordances from human videos as a versatile representation for robotics
S. Bahl, R. Mendonca, L. Chen, U. Jain, and D. Pathak · 2023
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Towards generalizable zero-shot manipulation via translating human interaction plans
H. Bharadhwaj, A. Gupta, V. Kumar, and S. Tulsiani · 2023
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Videodex: Learning dexterity from internet videos
K. Shaw, S. Bahl, and D. Pathak · 2023
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Artigrasp: Physically plausible synthesis of bi-manual dexterous grasping and articulation
H. Zhang, S. Christen, Z. Fan, L. Zheng, J. Hwangbo, J. Song, and O. Hilliges · 2023
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Mimicplay: Long-horizon imitation learning by watching human play
C. Wang, L. Fan, J. Sun, R. Zhang, L. Fei-Fei, D. Xu, Y. Zhu, and A. Anandkumar · 2023
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Physhoi: Physics-based imitation of dynamic human-object interaction
Y. Wang, J. Lin, A. Zeng, Z. Luo, J. Zhang, and L. Zhang · 2023
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Foundationpose: Unified 6d pose estimation and tracking of novel objects
B. Wen, W. Yang, J. Kautz, and S. Birchfield · 2023
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Controllable human-object interaction synthesis
J. Li, A. Clegg, R. Mottaghi, J. Wu, X. Puig, and C. K. Liu · 2023
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Sampling-based model predictive control leveraging parallelizable physics simulations, 2023
C. Pezzato, C. Salmi, M. Spahn, E. Trevisan, J. Alonso-Mora, and C. H. Corbato · 2023
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Springgrasp: An optimization pipeline for robust and compliant dexterous pre-grasp synthesis
S. Chen, J. Bohg, and C. K. Liu · 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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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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Y. Ze, G. Zhang, K. Zhang, C. Hu, M. Wang, and H. Xu · 2024
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Screwmimic: Bimanual imitation from human videos with screw space projection
A. Bahety, P. Mandikal, B. Abbatematteo, and R. Martín-Martín · 2024
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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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