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One of the most important, yet challenging, skills for a dexterous robot is grasping a diverse range of objects.
Solving rubik’s cube with a robot hand, 2019
OpenAI, Ilge Akkaya, Marcin Andrychowicz, Maciek Chociej, Mateusz Litwin, Bob McGrew, Arthur Petron, Alex Paino, Matthias Plappert, Glenn Powell, Raphael Ribas, Jonas Schneider, Nikolas Tezak, Jerry Tworek, Peter Welinder, Lilian Weng, Qiming Yuan, Wojciech Zaremba, and Lei Zhang · 1910
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Planning optimal grasps
C. Ferrari and J. Canny · 1992
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Graspit! a versatile simulator for robotic grasping
A.T. Miller and P.K. Allen · 2004
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Dexterous grasping via eigengrasps : A low-dimensional approach to a high-complexity problem
Matei T. Ciocarlie, Corey Goldfeder, and Peter K. Allen · 2007
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An image is worth 16x16 words: Transformers for image recognition at scale, 2021
Alexey Dosovitskiy, Lucas Beyer, Alexander Kolesnikov, Dirk Weissenborn, Xiaohua Zhai, Thomas Unterthiner, Mostafa Dehghani, Matthias Minderer, Georg Heigold, Sylvain Gelly, Jakob Uszkoreit, and Neil Houlsby · 2010
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D2rl: Deep dense architectures in reinforcement learning, 2020
Samarth Sinha, Homanga Bharadhwaj, Aravind Srinivas, and Animesh Garg · 2010
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A reduction of imitation learning and structured prediction to no-regret online learning, 2011
Stephane Ross, Geoffrey J. Gordon, and J. Andrew Bagnell · 2011
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Benchmarking in manipulation research: Using the yale-cmu-berkeley object and model set
Berk Calli, Aaron Walsman, Arjun Singh, Siddhartha Srinivasa, Pieter Abbeel, and Aaron M. Dollar · 2015
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Deep residual learning for image recognition, 2015
Kaiming He, Xiangyu Zhang, Shaoqing Ren, and Jian Sun · 2015
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Densely connected convolutional networks, 2018
Gao Huang, Zhuang Liu, Laurens van der Maaten, and Kilian Q. Weinberger · 2018
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Learning robust real-world dexterous grasping policies via implicit shape augmentation, 2022
Zoey Qiuyu Chen, Karl Van Wyk, Yu-Wei Chao, Wei Yang, Arsalan Mousavian, Abhishek Gupta, and Dieter Fox · 2022
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Planning visual-tactile precision grasps via complementary use of vision and touch, 2022
Martin Matak and Tucker Hermans · 2022
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Yuzhe Qin, Binghao Huang, Zhao-Heng Yin, Hao Su, and Xiaolong Wang · 2022
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Fabrics: A foundationally stable medium for encoding prior experience, 2023
Nathan Ratliff and Karl Van Wyk · 2023
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Fast-grasp’d: Dexterous multi-finger grasp generation through differentiable simulation, 2023
Dylan Turpin, Tao Zhong, Shutong Zhang, Guanglei Zhu, Jingzhou Liu, Ritvik Singh, Eric Heiden, Miles Macklin, Stavros Tsogkas, Sven Dickinson, and Animesh Garg · 2023
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Weikang Wan, Haoran Geng, Yun Liu, Zikang Shan, Yaodong Yang, Li Yi, and He Wang · 2023
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Ruicheng Wang, Jialiang Zhang, Jiayi Chen, Yinzhen Xu, Puhao Li, Tengyu Liu, and He Wang · 2023
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Ananye Agarwal, Shagun Uppal, Kenneth Shaw, and Deepak Pathak · 2023
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Visual dexterity: In-hand reorientation of novel and complex object shapes
Tao Chen, Megha Tippur, Siyang Wu, Vikash Kumar, Edward Adelson, and Pulkit Agrawal · 2023
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Gendexgrasp: Generalizable dexterous grasping, 2023
Puhao Li, Tengyu Liu, Yuyang Li, Yiran Geng, Yixin Zhu, Yaodong Yang, and Siyuan Huang · 2023
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Qingtao Liu, Yu Cui, Qi Ye, Zhengnan Sun, Haoming Li, Gaofeng Li, Lin Shao, and Jiming Chen · 2023
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Orbit: A unified simulation framework for interactive robot learning environments
Mayank Mittal, Calvin Yu, Qinxi Yu, Jingzhou Liu, Nikita Rudin, David Hoeller, Jia Lin Yuan, Ritvik Singh, Yunrong Guo, Hammad Mazhar, Ajay Mandlekar, Buck Babich, Gavriel State, Marco Hutter, and Animesh Garg · 2023
Cited alongside, same era.
Get a grip: Multi-finger grasp evaluation at scale enables robust sim-to-real transfer, 2024a
Tyler Ga Wei Lum, Albert H. Li, Preston Culbertson, Krishnan Srinivasan, Aaron D. Ames, Mac Schwager, and Jeannette Bohg
Cited in the paper.
DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics, 2024b
Tyler Ga Wei Lum, Martin Matak, Viktor Makoviychuk, Ankur Handa, Arthur Allshire, Tucker Hermans, Nathan D. Ratliff, and Karl Van Wyk
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Hand-object interaction pretraining from videos, 2024a
Himanshu Gaurav Singh, Antonio Loquercio, Carmelo Sferrazza, Jane Wu, Haozhi Qi, Pieter Abbeel, and Jitendra Malik
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Yinzhen Xu, Weikang Wan, Jialiang Zhang, Haoran Liu, Zikang Shan, Hao Shen, Ruicheng Wang, Haoran Geng, Yijia Weng, Jiayi Chen, Tengyu Liu, Li Yi, and He Wang · 2023
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Dextreme: Transfer of agile in-hand manipulation from simulation to reality, 2024
Ankur Handa, Arthur Allshire, Viktor Makoviychuk, Aleksei Petrenko, Ritvik Singh, Jingzhou Liu, Denys Makoviichuk, Karl Van Wyk, Alexander Zhurkevich, Balakumar Sundaralingam, Yashraj Narang, Jean-Francois Lafleche, Dieter Fox, and Gavriel State · 2024
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Dust3r: Geometric 3d vision made easy, 2024
Shuzhe Wang, Vincent Leroy, Yohann Cabon, Boris Chidlovskii, and Jerome Revaud · 2024
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Dexdiffuser: Generating dexterous grasps with diffusion models, 2024
Zehang Weng, Haofei Lu, Danica Kragic, and Jens Lundell · 2024
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Geometric fabrics: a safe guiding medium for policy learning, 2024
Karl Van Wyk, Ankur Handa, Viktor Makoviychuk, Yijie Guo, Arthur Allshire, and Nathan D. Ratliff · 2024
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