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We study the problem of functional retargeting: learning dexterous manipulation policies to track object states from human hand-object demonstrations.
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Deepmimic: Example-guided deep reinforcement learning of physics-based character skills
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Isaac gym: High performance gpu-based physics simulation for robot learning, 2021
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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 · 2022
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Videodex: Learning dexterity from internet videos, 2022
K. Shaw, S. Bahl, and D. Pathak · 2022
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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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ARCTIC: A dataset for dexterous bimanual hand-object manipulation
Z. Fan, O. Taheri, D. Tzionas, M. Kocabas, M. Kaufmann, M. J. Black, and O. Hilliges · 2023
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X. Cheng, J. Li, S. Yang, G. Yang, and X. Wang · 2024
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Bimanual dexterity for complex tasks
K. Shaw, Y. Li, J. Yang, M. K. Srirama, R. Liu, H. Xiong, R. Mendonca, and D. Pathak · 2024
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Object-centric dexterous manipulation from human motion data
Y. Chen, C. Wang, Y. Yang, and C. K. Liu · 2024
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Acquiring musculoskeletal skills with curriculum-based reinforcement learning
A. S. Chiappa, P. Tano, N. Patel, A. Ingster, A. Pouget, and A. Mathis · 2024
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Dextreme: Transfer of agile in-hand manipulation from simulation to reality
A. Handa, A. Allshire, V. Makoviychuk, A. Petrenko, R. Singh, J. Liu, D. Makoviichuk, K. Van Wyk, A. Zhurkevich, B. Sundaralingam, et al · 2023
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In-hand object rotation via rapid motor adaptation
H. Qi, A. Kumar, R. Calandra, Y. Ma, and J. Malik · 2023
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Rotating without seeing: Towards in-hand dexterity through touch
Z.-H. Yin, B. Huang, Y. Qin, Q. Chen, and X. Wang · 2023
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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
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Myodex: A generalizable prior for dexterous manipulation
V. Caggiano, S. Dasari, and V. Kumar · 2023
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Toward human-like grasp: Functional grasp by dexterous robotic hand via object-hand semantic representation
T. Zhu, R. Wu, J. Hang, X. Lin, and Y. Sun · 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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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 · 2024
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Genesis: A universal and generative physics engine for robotics and beyond, December 2024
G. Authors · 2024
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Foundationpose: Unified 6d pose estimation and tracking of novel objects
B. Wen, W. Yang, J. Kautz, and S. Birchfield · 2024
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Shadow hand official website
S. R. Company · 2025
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Doglove: Dexterous manipulation with a low-cost open-source haptic force feedback glove
H. Zhang, S. Hu, Z. Yuan, and H. Xu · 2025
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Learning to transfer human hand skills for robot manipulations, 2025
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Learning long-horizon robot manipulation skills via privileged action
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X. Xu, D. Bauer, and S. Song · 2025
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Inspire hand official website
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