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Dexterous Manipulation

Novel Tasks

  • arXiv 2023.12, Vegetable Peeling: A Case Study in Constrained Dexterous Manipulation, Website
  • arXiv 2023.10, DexCatch: Learning to Catch Arbitrary Objects with Dexterous Hands, arXiv / Website
  • CoRL 2023, Sequential Dexterity: Chaining Dexterous Policies for Long-Horizon Manipulation, Website / Github
  • CoRL 2023, RoboPianist: Dexterous Piano Playing with Deep Reinforcement Learning, OpenReview / Website
  • CoRL 2023, Dynamic Handover: Throw and Catch with Bimanual Hands, OpenReview / Website
  • SIGGRAPH 2022, Learning to use chopsticks in diverse gripping styles, arXiv / Github

Tactile

  • arXiv 2023.12, Neural feels with neural fields: Visuo-tactile perception for in-hand manipulation, Website
  • ICRA 2024 submission, Robot Synesthesia: In-Hand Manipulation with Visuotactile Sensing, Website
  • RSS 2023, Sampling Based Exploration for Reinforcement Learning of Dexterous Manipulation, Website
  • arXiv 2023.11, M3L: The Power of the Senses: Generalizable Manipulation from Vision and Touch through Masked Multimodal Learning, Website
  • CoRL 2023, General In-Hand Object Rotation with Vision and Touch, OpenReview
  • ICRA 2023, TactoFind: A Tactile Only System for Object Retrieval, Website
  • arXiv 2023, Dexterity from Touch: Self-Supervised Pre-Training of Tactile Representations with Robotic Play, Website
  • RSS 2023, Rotating without Seeing: Towards In-hand Dexterity through Touch, Website

In-Hand Manipulation

  • CoRL 2023, General In-Hand Object Rotation with Vision and Touch, OpenReview
  • arXiv 2023, Visual Dexterity: In-hand Dexterous Manipulation from Depth, Website
  • ICRA 2023, DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality, Website
  • RSS 2023, Rotating without Seeing: Towards In-hand Dexterity through Touch, Website
  • CoRL 2022, HORA: In-Hand Object Rotation via Rapid Motor Adaptation, Website / Github
  • CoRL 2021, A System for General In-Hand Object Re-Orientation, Website
  • Website

Teleoperation

  • RSS 2022, Robotic Telekinesis: Learning a Robotic Hand Imitator by Watching Humans on Youtube. Website
  • ECCV 2022, DexMV: Imitation Learning for Dexterous Manipulation from Human Videos, Website
  • ICRA 2020, DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System, Website

Algorithm

  • arXiv 2023.10, Eureka: Human-Level Reward Design via Coding Large Language Models, Website / Github
  • arXiv 2023.04, Learning a Universal Human Prior for Dexterous Manipulation from Human Preference, arXiv
  • NIPS 2023, GraspGF: Learning Score-based Grasping Primitive for Human-assisting Dexterous Grasping, arXiv / Website
  • CoRL 2023 oral, Diff-LfD: Contact-aware Model-based Learning from Visual Demonstration for Robotic Manipulation via Differentiable Physics-based Simulation and Rendering, Website
  • CoRL 2023 oral, KODex: On the Utility of Koopman Operator Theory in Learning Dexterous Manipulation Skills, arXiv / Website
  • CoRL 2023, DEFT: Dexterous Fine-Tuning for Real-World Hand Policies, OpenReview / Website
  • CoRL 2023, Dexterous Functional Grasping, OpenReview / Website
  • CoRL 2023, REBOOT: Reuse Data for Bootstrapping Efficient Real-World Dexterous Manipulation, OpenReview / Website
  • RA-L 2023, Learning Continuous Grasping Function with a Dexterous Hand from Human Demonstrations, Website
  • CoRL 2022, VideoDex: Learning Dexterity from Internet Videos, Website
  • CoRL 2022, DexPoint: Generalizable Point Cloud Reinforcement Learning for Sim-to-Real Dexterous Manipulation, Website / Github
  • arXiv 2022, DIME: Dexterous Imitation Made Easy: A Learning-Based Framework for Efficient Dexterous Manipulation, Website / Code
  • CoRL 2021, DexVIP: Learning Dexterous Grasping with Human Hand Pose Priors from Video, Website
  • ICML 2021, SCDM: Solving Complex Dexterous Manipulation Tasks With Trajectory Optimisation and Reinforcement Learning, Website
  • IROS 2020, DexRes: Physics-Based Dexterous Manipulations with Estimated Hand Poses and Residual Reinforcement Learning, arXiv / Website
  • CoRL 2020, PDDM: Deep Dynamics Models for Learning Dexterous Manipulation, Website / Code
  • RSS 2018, DAPG: Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations, Website / Code