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We present a diffusion-based model recipe for real-world control of a highly dexterous humanoid robotic hand, designed for sample-efficient learning and smooth fine-motor action inference.
DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System, Oct. 2019
A. Handa, K. V. Wyk, W. Yang, J. Liang, Y.-W. Chao, Q. Wan, S. Birchfield, N. Ratliff, and D. Fox · 1910
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A dexterous humanoid five-fingered robotic hand
H. Liu, K. Wu, P. Meusel, G. Hirzinger, M. Jin, Y. Liu, S. Fan, T. Lan, and Z. Chen · 1944
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Multisensory five-finger dexterous hand: The DLR/HIT Hand II
H. Liu, K. Wu, P. Meusel, N. Seitz, G. Hirzinger, M. Jin, Y. Liu, S. Fan, T. Lan, and Z. Chen · 2008
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An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale, June 2021
A. Dosovitskiy, L. Beyer, A. Kolesnikov, D. Weissenborn, X. Zhai, T. Unterthiner, M. Dehghani, M. Minderer, G. Heigold, S. Gelly, J. Uszkoreit, and N. Houlsby · 2010
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The DLR hand arm system
M. Grebenstein, A. Albu-Schäffer, T. Bahls, M. Chalon, O. Eiberger, W. Friedl, R. Gruber, S. Haddadin, U. Hagn, R. Haslinger, H. Höppner, S. Jörg, M. Nickl, A. Nothhelfer, F. Petit, J. Reill, N. Seitz, T. Wimböck, S. Wolf, T. Wüsthoff, and G. Hirzinger · 2011
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Design of a highly biomimetic anthropomorphic robotic hand towards artificial limb regeneration
Z. Xu and E. Todorov · 2016
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Generative Modeling by Estimating Gradients of the Data Distribution
Y. Song and S. Ermon · 2019
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Denoising Diffusion Probabilistic Models
J. Ho, A. Jain, and P. Abbeel · 2020
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On the Continuity of Rotation Representations in Neural Networks, June 2020
Y. Zhou, C. Barnes, J. Lu, J. Yang, and H. Li · 2020
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Learning Transferable Visual Models From Natural Language Supervision
A. Radford, J. W. Kim, C. Hallacy, A. Ramesh, G. Goh, S. Agarwal, G. Sastry, A. Askell, P. Mishkin, J. Clark, G. Krueger, and I. Sutskever · 2021
Earlier work this paper cites.
RT-1: Robotics Transformer for Real-World Control at Scale, Dec. 2022
A. Brohan, N. Brown, J. Carbajal, Y. Chebotar, J. Dabis, C. Finn, K. Gopalakrishnan, K. Hausman, A. Herzog, J. Hsu, J. Ibarz, B. Ichter, A. Irpan, T. Jackson, S. Jesmonth, N. J. Joshi, R. Julian, D. Kalashnikov, Y. Kuang, I. Leal, K.-H. Lee, S. Levine, Y. Lu, U. Malla, D. Manjunath, I. Mordatch, O. Nachum, C. Parada, J. Peralta, E. Perez, K. Pertsch, J. Quiambao, K. Rao, M. Ryoo, G. Salazar, P. Sanketi, K. Sayed, J. Singh, S. Sontakke, A. Stone, C. Tan, H. Tran, V. Vanhoucke, S. Vega, Q. Vuong, F. Xia, T. Xiao, P. Xu, S. Xu, T. Yu, and B. Zitkovich · 2022
Cited alongside, same era.
VideoDex: Learning Dexterity from Internet Videos, Dec. 2022
K. Shaw, S. Bahl, and D. Pathak · 2022
Cited alongside, same era.
Y. Toshimitsu, B. Forrai, B. G. Cangan, U. Steger, M. Knecht, S. Weirich, and R. K. Katzschmann · 2023
Cited alongside, same era.
Vision-controlled jetting for composite systems and robots
T. J. K. Buchner, S. Rogler, S. Weirich, Y. Armati, B. G. Cangan, J. Ramos, S. T. Twiddy, D. M. Marini, A. Weber, D. Chen, G. Ellson, J. Jacob, W. Zengerle, D. Katalichenko, C. Keny, W. Matusik, and R. K. Katzschmann · 2023
Diffusion Policy: Visuomotor Policy Learning via Action Diffusion, Mar. 2024
C. Chi, Z. Xu, S. Feng, E. Cousineau, Y. Du, B. Burchfiel, R. Tedrake, and S. Song · 2024
Later among the works it cites.
Learning Robotic Manipulation Policies from Point Clouds with Conditional Flow Matching, Sept. 2024
E. Chisari, N. Heppert, M. Argus, T. Welschehold, T. Brox, and A. Valada · 2024
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pi0: A Vision-Language-Action Flow Model for General Robot Control, Nov. 2024
K. Black, N. Brown, D. Driess, A. Esmail, M. Equi, C. Finn, N. Fusai, L. Groom, K. Hausman, B. Ichter, S. Jakubczak, T. Jones, L. Ke, S. Levine, A. Li-Bell, M. Mothukuri, S. Nair, K. Pertsch, L. X. Shi, J. Tanner, Q. Vuong, A. Walling, H. Wang, and U. Zhilinsky · 2024
Later among the works it cites.
Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots, Mar. 2024
C. Chi, Z. Xu, C. Pan, E. Cousineau, B. Burchfiel, S. Feng, R. Tedrake, and S. Song · 2024
Later among the works it cites.
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Cited alongside, same era.
RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control
B. Zitkovich, T. Yu, S. Xu, P. Xu, T. Xiao, F. Xia, J. Wu, P. Wohlhart, S. Welker, A. Wahid, Q. Vuong, V. Vanhoucke, H. Tran, R. Soricut, A. Singh, J. Singh, P. Sermanet, P. R. Sanketi, G. Salazar, M. S. Ryoo, K. Reymann, K. Rao, K. Pertsch, I. Mordatch, H. Michalewski, Y. Lu, S. Levine, L. Lee, T.-W. E. Lee, I. Leal, Y. Kuang, D. Kalashnikov, R. Julian, N. J. Joshi, A. Irpan, B. Ichter, J. Hsu, A. Herzog, K. Hausman, K. Gopalakrishnan, C. Fu, P. Florence, C. Finn, K. A. Dubey, D. Driess, T. Ding, K. M. Choromanski, X. Chen, Y. Chebotar, J. Carbajal, N. Brown, A. Brohan, M. G. Arenas, and K. Han · 2023
Cited alongside, same era.
Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware, Apr. 2023
T. Z. Zhao, V. Kumar, S. Levine, and C. Finn · 2023
Cited alongside, same era.
Flow Matching for Generative Modeling, Feb. 2023
Y. Lipman, R. T. Q. Chen, H. Ben-Hamu, M. Nickel, and M. Le · 2023
Cited alongside, same era.
MimicPlay: Long-Horizon Imitation Learning by Watching Human Play, Feb. 2023
C. Wang, L. Fan, J. Sun, R. Zhang, L. Fei-Fei, D. Xu, Y. Zhu, and A. Anandkumar · 2023
Cited alongside, same era.
Octo: An Open-Source Generalist Robot Policy, May 2024
O. M. Team, D. Ghosh, H. Walke, K. Pertsch, K. Black, O. Mees, S. Dasari, J. Hejna, T. Kreiman, C. Xu, J. Luo, Y. L. Tan, L. Y. Chen, P. Sanketi, Q. Vuong, T. Xiao, D. Sadigh, C. Finn, and S. Levine · 2024
Cited alongside, same era.
OpenVLA: An Open-Source Vision-Language-Action Model, Sept. 2024
M. J. Kim, K. Pertsch, S. Karamcheti, T. Xiao, A. Balakrishna, S. Nair, R. Rafailov, E. Foster, G. Lam, P. Sanketi, Q. Vuong, T. Kollar, B. Burchfiel, R. Tedrake, D. Sadigh, S. Levine, P. Liang, and C. Finn · 2024
Cited alongside, same era.
Data Scaling Laws in Imitation Learning for Robotic Manipulation, Oct. 2024a
F. Lin, Y. Hu, P. Sheng, C. Wen, J. You, and Y. Gao
Cited in the paper.
Learning Visuotactile Skills with Two Multifingered Hands, May 2024b
T. Lin, Y. Zhang, Q. Li, H. Qi, B. Yi, S. Levine, and J. Malik
Cited in the paper.
H. Ha, Y. Gao, Z. Fu, J. Tan, and S. Song · 2024
Later among the works it cites.
EgoMimic: Scaling Imitation Learning via Egocentric Video, Oct. 2024
S. Kareer, D. Patel, R. Punamiya, P. Mathur, S. Cheng, C. Wang, J. Hoffman, and D. Xu · 2024
Later among the works it cites.
FAST: Efficient Action Tokenization for Vision-Language-Action Models, Jan. 2025
K. Pertsch, K. Stachowicz, B. Ichter, D. Driess, S. Nair, Q. Vuong, O. Mees, C. Finn, and S. Levine · 2025
Closest in time.
SERL: A Software Suite for Sample-Efficient Robotic Reinforcement Learning, Mar. 2025
J. Luo, Z. Hu, C. Xu, Y. L. Tan, J. Berg, A. Sharma, S. Schaal, C. Finn, A. Gupta, and S. Levine · 2025
Closest in time.
Integrated linkage-driven dexterous anthropomorphic robotic hand
U. Kim, D. Jung, H. Jeong, J. Park, H.-M. Jung, J. Cheong, H. R. Choi, H. Do, and C. Park · 2041
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