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Human hands play a central role in interacting, motivating increasing research in dexterous robotic manipulation.
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https://www.shadowrobot.com/dexterous-hand-series , 2005
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Brenna D Argall, Sonia Chernova, Manuela Veloso, and Brett Browning · 2009
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Curriculum learning
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Realman Robotics · 2010
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https://www.allegrohand.com , 2013
Allegro Hands · 2013
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Diederik Kingma and Jimmy Ba · 2015
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U-net: Convolutional networks for biomedical image segmentation
Olaf Ronneberger, Philipp Fischer, and Thomas Brox · 2015
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Embodied hands: Modeling and capturing hands and bodies together
Javier Romero, Dimitrios Tzionas, and Michael J. Black · 2017
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Proximal policy optimization algorithms
John Schulman, Filip Wolski, Prafulla Dhariwal, Alec Radford, and Oleg Klimov · 2017
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Attention is all you need
A Vaswani · 2017
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A hand pose tracking benchmark from stereo matching
Jiawei Zhang, Jianbo Jiao, Mingliang Chen, Liangqiong Qu, Xiaobin Xu, and Qingxiong Yang · 2017
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Learning manipulation skills from a single demonstration
Peter Englert and Marc Toussaint · 2018
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First-person hand action benchmark with rgb-d videos and 3d hand pose annotations
Guillermo Garcia-Hernando, Shanxin Yuan, Seungryul Baek, and Tae-Kyun Kim · 2018
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Roboturk: A crowdsourcing platform for robotic skill learning through imitation
Ajay Mandlekar, Yuke Zhu, Animesh Garg, Jonathan Booher, Max Spero, Albert Tung, Julian Gao, John Emmons, Anchit Gupta, Emre Orbay, et al · 2018
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Deepmimic: Example-guided deep reinforcement learning of physics-based character skills
Xue Bin Peng, Pieter Abbeel, Sergey Levine, and Michiel Van de Panne · 2018
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Tom Silver, Kelsey Allen, Josh Tenenbaum, and Leslie Kaelbling · 2018
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https://en.inspire-robots.com/product-category/the-dexterous-hands , 2019
Inspire Hands · 2019
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ContactDB: Analyzing and predicting grasp contact via thermal imaging
Samarth Brahmbhatt, Cusuh Ham, Charles C. Kemp, and James Hays · 2019
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Learning joint reconstruction of hands and manipulated objects
Yana Hasson, Gul Varol, Dimitrios Tzionas, Igor Kalevatykh, Michael J Black, Ivan Laptev, and Cordelia Schmid · 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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Efficient learning on point clouds with basis point sets
Sergey Prokudin, Christoph Lassner, and Javier Romero · 2019
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H+ o: Unified egocentric recognition of 3d hand-object poses and interactions
Bugra Tekin, Federica Bogo, and Marc Pollefeys · 2019
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Freihand: A dataset for markerless capture of hand pose and shape from single rgb images
Christian Zimmermann, Duygu Ceylan, Jimei Yang, Bryan Russell, Max Argus, and Thomas Brox · 2019
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ContactPose: A dataset of grasps with object contact and hand pose
Samarth Brahmbhatt, Chengcheng Tang, Christopher D. Twigg, Charles C. Kemp, and James Hays · 2020
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Ganhand: Predicting human grasp affordances in multi-object scenes
Enric Corona, Albert Pumarola, Guillem Alenya, Francesc Moreno-Noguer, and Grégory Rogez · 2020
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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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Honnotate: A method for 3d annotation of hand and object poses
Shreyas Hampali, Mahdi Rad, Markus Oberweger, and Vincent Lepetit · 2020
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Leveraging photometric consistency over time for sparsely supervised hand-object reconstruction
Yana Hasson, Bugra Tekin, Federica Bogo, Ivan Laptev, Marc Pollefeys, and Cordelia Schmid · 2020
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Manifoldplus: A robust and scalable watertight manifold surface generation method for triangle soups
Jingwei Huang, Yichao Zhou, and Leonidas Guibas · 2020
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Deep reinforcement learning for industrial insertion tasks with visual inputs and natural rewards
Gerrit Schoettler, Ashvin Nair, Jianlan Luo, Shikhar Bahl, Juan Aparicio Ojea, Eugen Solowjow, and Sergey Levine · 2020
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Grab: A dataset of whole-body human grasping of objects
Omid Taheri, Nima Ghorbani, Michael J Black, and Dimitrios Tzionas · 2020
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Residual reinforcement learning from demonstrations
Minttu Alakuijala, Gabriel Dulac-Arnold, Julien Mairal, Jean Ponce, and Cordelia Schmid · 2021
Cited alongside, same era.
Reconstructing hand-object interactions in the wild
Zhe Cao, Ilija Radosavovic, Angjoo Kanazawa, and Jitendra Malik · 2021
Cited alongside, same era.
Dexycb: A benchmark for capturing hand grasping of objects
Yu-Wei Chao, Wei Yang, Yu Xiang, Pavlo Molchanov, Ankur Handa, Jonathan Tremblay, Yashraj S Narang, Karl Van Wyk, Umar Iqbal, Stan Birchfield, et al · 2021
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Hand-object contact consistency reasoning for human grasps generation
Hanwen Jiang, Shaowei Liu, Jiashun Wang, and Xiaolong Wang · 2021
Cited alongside, same era.
H2o: Two hands manipulating objects for first person interaction recognition
Taein Kwon, Bugra Tekin, Jan Stühmer, Federica Bogo, and Marc Pollefeys · 2021
Cited alongside, same era.
Videodex: Learning dexterity from internet videos
Kenneth Shaw, Shikhar Bahl, and Deepak Pathak · 2023
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Unidexgrasp++: Improving dexterous grasping policy learning via geometry-aware curriculum and iterative generalist-specialist learning
Weikang Wan, Haoran Geng, Yun Liu, Zikang Shan, Yaodong Yang, Li Yi, and He Wang · 2023
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Gello: A general, low-cost, and intuitive teleoperation framework for robot manipulators
Philipp Wu, Yide Shentu, Zhongke Yi, Xingyu Lin, and Pieter Abbeel · 2023
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Hmdo: Markerless multi-view hand manipulation capture with deformable objects
Wei Xie, Zhipeng Yu, Zimeng Zhao, Binghui Zuo, and Yangang Wang · 2023
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Poem: reconstructing hand in a point embedded multi-view stereo
Lixin Yang, Jian Xu, Licheng Zhong, Xinyu Zhan, Zhicheng Wang, Kejian Wu, and Cewu Lu · 2023
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End-to-end human pose and mesh reconstruction with transformers
Kevin Lin, Lijuan Wang, and Zicheng Liu · 2021
Cited alongside, same era.
Isaac gym: High performance gpu-based physics simulation for robot learning
Viktor Makoviychuk, Lukasz Wawrzyniak, Yunrong Guo, Michelle Lu, Kier Storey, Miles Macklin, David Hoeller, Nikita Rudin, Arthur Allshire, Ankur Handa, et al · 2021
Cited alongside, same era.
A convex quasistatic time-stepping scheme for rigid multibody systems with contact and friction
Tao Pang and Russ Tedrake · 2021
Cited alongside, same era.
Amp: Adversarial motion priors for stylized physics-based character control
Xue Bin Peng, Ze Ma, Pieter Abbeel, Sergey Levine, and Angjoo Kanazawa · 2021
Cited alongside, same era.
Cpf: Learning a contact potential field to model the hand-object interaction
Lixin Yang, Xinyu Zhan, Kailin Li, Wenqiang Xu, Jiefeng Li, and Cewu Lu · 2021
Cited alongside, same era.
Rt-1: Robotics transformer for real-world control at scale
Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Joseph Dabis, Chelsea Finn, Keerthana Gopalakrishnan, Karol Hausman, Alex Herzog, Jasmine Hsu, et al · 2022
Cited alongside, same era.
D-grasp: Physically plausible dynamic grasp synthesis for hand-object interactions
Sammy Christen, Muhammed Kocabas, Emre Aksan, Jemin Hwangbo, Jie Song, and Otmar Hilliges · 2022
Cited alongside, same era.
Learning continuous grasping function with a dexterous hand from human demonstrations
Jianglong Ye, Jiashun Wang, Binghao Huang, Yuzhe Qin, and Xiaolong Wang · 2023
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Rotating without seeing: Towards in-hand dexterity through touch
Zhao-Heng Yin, Binghao Huang, Yuzhe Qin, Qifeng Chen, and Xiaolong Wang · 2023
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Robopianist: Dexterous piano playing with deep reinforcement learning
Kevin Zakka, Philipp Wu, Laura Smith, Nimrod Gileadi, Taylor Howell, Xue Bin Peng, Sumeet Singh, Yuval Tassa, Pete Florence, Andy Zeng, et al · 2023
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Efficient sim-to-real transfer of contact-rich manipulation skills with online admittance residual learning
Xiang Zhang, Changhao Wang, Lingfeng Sun, Zheng Wu, Xinghao Zhu, and Masayoshi Tomizuka · 2023
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Learning fine-grained bimanual manipulation with low-cost hardware
Tony Z Zhao, Vikash Kumar, Sergey Levine, and Chelsea Finn · 2023
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Zehao Zhu, Jiashun Wang, Yuzhe Qin, Deqing Sun, Varun Jampani, and Xiaolong Wang · 2023
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Open-television: Teleoperation with immersive active visual feedback
Xuxin Cheng, Jialong Li, Shiqi Yang, Ge Yang, and Xiaolong Wang · 2024
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Universal manipulation interface: In-the-wild robot teaching without in-the-wild robots
Cheng Chi, Zhenjia Xu, Chuer Pan, Eric Cousineau, Benjamin Burchfiel, Siyuan Feng, Russ Tedrake, and Shuran Song · 2024
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Bunny-visionpro: Real-time bimanual dexterous teleoperation for imitation learning
Runyu Ding, Yuzhe Qin, Jiyue Zhu, Chengzhe Jia, Shiqi Yang, Ruihan Yang, Xiaojuan Qi, and Xiaolong Wang · 2024
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Efficient residual learning with mixture-of-experts for universal dexterous grasping
Ziye Huang, Haoqi Yuan, Yuhui Fu, and Zongqing Lu · 2024
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Jeonghwan Kim, Jisoo Kim, Jeonghyeon Na, and Hanbyul Joo · 2024
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Davide Liconti, Yasunori Toshimitsu, and Robert Katzschmann · 2024
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Twisting lids off with two hands
Toru Lin, Zhao-Heng Yin, Haozhi Qi, Pieter Abbeel, and Jitendra Malik · 2024
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Garmentlab: A unified simulation and benchmark for garment manipulation
Haoran Lu, Ruihai Wu, Yitong Li, Sijie Li, Ziyu Zhu, Chuanruo Ning, Yan Shen, Longzan Luo, Yuanpei Chen, and Hao Dong · 2024
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Xiaofeng Mao, Gabriele Giudici, Claudio Coppola, Kaspar Althoefer, Ildar Farkhatdinov, Zhibin Li, and Lorenzo Jamone · 2024
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Bimanual long-horizon manipulation via temporal-context transformer rl
Ji-Heon Oh, Ismael Espinoza, Danbi Jung, and Tae-Seong Kim · 2024
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Dexhub and dart: Towards internet scale robot data collection
Younghyo Park, Jagdeep Singh Bhatia, Lars Ankile, and Pulkit Agrawal · 2024
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Reconstructing hands in 3d with transformers
Georgios Pavlakos, Dandan Shan, Ilija Radosavovic, Angjoo Kanazawa, David Fouhey, and Jitendra Malik · 2024
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Bimanual dexterity for complex tasks
Kenneth Shaw, Yulong Li, Jiahui Yang, Mohan Kumar Srirama, Ray Liu, Haoyu Xiong, Russell Mendonca, and Deepak Pathak · 2024
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Learning cross-hand policies for high-dof reaching and grasping
Qijin She, Shishun Zhang, Yunfan Ye, Min Liu, Ruizhen Hu, and Kai Xu · 2024
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Maskedmimic: Unified physics-based character control through masked motion inpainting
Chen Tessler, Yunrong Guo, Ofir Nabati, Gal Chechik, and Xue Bin Peng · 2024
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Learning score-based grasping primitive for human-assisting dexterous grasping
Tianhao Wu, Mingdong Wu, Jiyao Zhang, Yunchong Gan, and Hao Dong · 2024
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Cross-embodiment dexterous grasping with reinforcement learning
Haoqi Yuan, Bohan Zhou, Yuhui Fu, and Zongqing Lu · 2024
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3d diffusion policy: Generalizable visuomotor policy learning via simple 3d representations
Yanjie Ze, Gu Zhang, Kangning Zhang, Chenyuan Hu, Muhan Wang, and Huazhe Xu · 2024
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Oakink2: A dataset of bimanual hands-object manipulation in complex task completion
Xinyu Zhan, Lixin Yang, Yifei Zhao, Kangrui Mao, Hanlin Xu, Zenan Lin, Kailin Li, and Cewu Lu · 2024
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Dexh2r: Task-oriented dexterous manipulation from human to robots
Shuqi Zhao, Xinghao Zhu, Yuxin Chen, Chenran Li, Xiang Zhang, Mingyu Ding, and Masayoshi Tomizuka · 2024
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Color-neus: Reconstructing neural implicit surfaces with color
Licheng Zhong, Lixin Yang, Kailin Li, Haoyu Zhen, Mei Han, and Cewu Lu · 2024
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Learning diverse bimanual dexterous manipulation skills from human demonstrations
Bohan Zhou, Haoqi Yuan, Yuhui Fu, and Zongqing Lu · 2024
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