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Learning Dexterous Manipulation for a Soft Robotic Hand from Human Demonstration
21 March 2016
Abhishek Gupta
Clemens Eppner
Sergey Levine
Pieter Abbeel
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Papers citing
"Learning Dexterous Manipulation for a Soft Robotic Hand from Human Demonstration"
50 / 69 papers shown
Lightweight Learning from Actuation-Space Demonstrations via Flow Matching for Whole-Body Soft Robotic Grasping
Liudi Yang
Yang Bai
Yuhao Wang
Ibrahim Alsarraj
Gitta Kutyniok
Z. Wang
Ke Wu
198
0
0
03 Nov 2025
Reinforcement Learning for Robotic Safe Control with Force Sensing
Nan Lin
Linrui Zhang
Yuxuan Chen
Z. Chen
Yujun Zhu
Ruoxi Chen
Peichen Wu
Xiaoping Chen
118
9
0
30 Oct 2025
DexMan: Learning Bimanual Dexterous Manipulation from Human and Generated Videos
Jhen Hsieh
Kuan-Hsun Tu
Kuo-Han Hung
Tsung-Wei Ke
241
8
0
09 Oct 2025
The Developments and Challenges towards Dexterous and Embodied Robotic Manipulation: A Survey
Gaofeng Li
Ruize Wang
Peisen Xu
Qi Ye
Jiming Chen
226
9
0
16 Jul 2025
DyTact: Capturing Dynamic Contacts in Hand-Object Manipulation
Xiaoyan Cong
Angela Xing
Chandradeep Pokhariya
Rao Fu
Srinath Sridhar
358
3
0
03 Jun 2025
Interactive Imitation Learning for Dexterous Robotic Manipulation: Challenges and Perspectives -- A Survey
Edgar Welte
Rania Rayyes
536
8
0
30 May 2025
KineSoft: Learning Proprioceptive Manipulation Policies with Soft Robot Hands
Uksang Yoo
Jonathan M Francis
Jean Oh
Jeffrey Ichnowski
555
3
0
03 Mar 2025
Few-shot Sim2Real Based on High Fidelity Rendering with Force Feedback Teleoperation
Yanwen Zou
Junda Huang
Boyuan Liang
Honghao Guo
Zhengyang Liu
Xin Ma
Jianshu Zhou
Masayoshi Tomizuka
512
2
0
03 Mar 2025
DexTrack: Towards Generalizable Neural Tracking Control for Dexterous Manipulation from Human References
International Conference on Learning Representations (ICLR), 2025
Xueyi Liu
Jianibieke Adalibieke
Qianwei Han
Yuzhe Qin
Li Yi
570
18
0
13 Feb 2025
Diffusion Imitation from Observation
Neural Information Processing Systems (NeurIPS), 2024
Bo-Ruei Huang
Chun-Kai Yang
Chun-Mao Lai
Dai-Jie Wu
Shao-Hua Sun
312
10
0
07 Oct 2024
DexSim2Real
2
^{2}
2
: Building Explicit World Model for Precise Articulated Object Dexterous Manipulation
IEEE Transactions on robotics (IEEE Trans. Robot.), 2024
Taoran Jiang
Yixuan Guan
Liqian Ma
Jing Xu
Weihang Chen
Zecui Zeng
Lusong Li
Dan Wu
Jing Xu
Rui Chen
500
0
0
13 Sep 2024
Robust Loss Functions for Object Grasping under Limited Ground Truth
Yangfan Deng
Mengyao Zhang
Yong Zhao
NoLa
265
0
0
09 Sep 2024
Benchmarking Reinforcement Learning Methods for Dexterous Robotic Manipulation with a Three-Fingered Gripper
Elizabeth Cutler
Yuning Xing
Tony Cui
Brendan Zhou
Koen van Rijnsoever
...
David Valencia
Lee Violet C. Ong
Trevor Gee
Minas V. Liarokapis
Henry Williams
OffRL
183
4
0
27 Aug 2024
Fourier Controller Networks for Real-Time Decision-Making in Embodied Learning
Hengkai Tan
Songming Liu
Kai Ma
Chengyang Ying
Xingxing Zhang
Hang Su
Jun Zhu
364
3
0
30 May 2024
Tilde: Teleoperation for Dexterous In-Hand Manipulation Learning with a DeltaHand
Zilin Si
Kevin Zhang
F. Z. Temel
Oliver Kroemer
344
21
0
29 May 2024
QuasiSim: Parameterized Quasi-Physical Simulators for Dexterous Manipulations Transfer
Xueyi Liu
Kangbo Lyu
Jieqiong Zhang
Tao Du
Li Yi
266
10
0
11 Apr 2024
Back-stepping Experience Replay with Application to Model-free Reinforcement Learning for a Soft Snake Robot
IEEE Robotics and Automation Letters (RA-L), 2024
Xinda Qi
Dong Chen
Zhao Li
Xiaobo Tan
262
7
0
21 Jan 2024
Bioinspired Soft Robotics: state of the art, challenges, and future directions
Maxwell Hammond
V. Cichella
Caterina Lamuta
AI4CE
200
22
0
19 Dec 2023
General In-Hand Object Rotation with Vision and Touch
Conference on Robot Learning (CoRL), 2023
Haozhi Qi
Brent Yi
Sudharshan Suresh
Mike Lambeta
Yi Ma
Roberto Calandra
Jitendra Malik
356
152
0
18 Sep 2023
Dynamic Handover: Throw and Catch with Bimanual Hands
Conference on Robot Learning (CoRL), 2023
Binghao Huang
Yuanpei Chen
Tianyu Wang
Yuzhe Qin
Yaodong Yang
Nikolay Atanasov
Xiaolong Wang
377
61
0
11 Sep 2023
REBOOT: Reuse Data for Bootstrapping Efficient Real-World Dexterous Manipulation
Conference on Robot Learning (CoRL), 2023
Zheyuan Hu
Aaron Rovinsky
Jianlan Luo
Vikash Kumar
Abhishek Gupta
Sergey Levine
OffRL
294
15
0
06 Sep 2023
Dexterous Soft Hands Linearize Feedback-Control for In-Hand Manipulation
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023
Adrian Sieler
Oliver Brock
267
10
0
21 Aug 2023
Stochastic Approach for Modeling a Soft Robotic Finger with Creep Behavior
Sumitaka Honji
Hikaru Arita
K. Tahara
89
5
0
12 Jun 2023
DexArt: Benchmarking Generalizable Dexterous Manipulation with Articulated Objects
Computer Vision and Pattern Recognition (CVPR), 2023
Chen Bao
Helin Xu
Yuzhe Qin
Xiaolong Wang
303
69
0
09 May 2023
Causal Policy Gradient for Whole-Body Mobile Manipulation
Jiaheng Hu
Peter Stone
Roberto Martín-Martín
527
34
0
04 May 2023
DexDeform: Dexterous Deformable Object Manipulation with Human Demonstrations and Differentiable Physics
International Conference on Learning Representations (ICLR), 2023
Sizhe Li
Zhiao Huang
Tao Chen
Tao Du
Hao Su
J. Tenenbaum
Chuang Gan
278
38
0
27 Mar 2023
Learning to Transfer In-Hand Manipulations Using a Greedy Shape Curriculum
Yunbo Zhang
Alexander Clegg
Sehoon Ha
Greg Turk
Yuting Ye
291
10
0
14 Mar 2023
DexPoint: Generalizable Point Cloud Reinforcement Learning for Sim-to-Real Dexterous Manipulation
Conference on Robot Learning (CoRL), 2022
Yuzhe Qin
Binghao Huang
Zhao-Heng Yin
Hao Su
Xiaolong Wang
3DPC
337
117
0
17 Nov 2022
Learning Robust Real-World Dexterous Grasping Policies via Implicit Shape Augmentation
Conference on Robot Learning (CoRL), 2022
Zoey Qiuyu Chen
Karl Van Wyk
Yu-Wei Chao
Wei Yang
Arsalan Mousavian
Abhishek Gupta
Dieter Fox
267
40
0
24 Oct 2022
Real-Time Reinforcement Learning for Vision-Based Robotics Utilizing Local and Remote Computers
IEEE International Conference on Robotics and Automation (ICRA), 2022
Yan Wang
Gautham Vasan
A. R. Mahmood
337
19
0
05 Oct 2022
DexTransfer: Real World Multi-fingered Dexterous Grasping with Minimal Human Demonstrations
Zoey Qiuyu Chen
Karl Van Wyk
Yu-Wei Chao
Wei Yang
Arsalan Mousavian
Abhishek Gupta
Dieter Fox
276
40
0
28 Sep 2022
Learning Continuous Grasping Function with a Dexterous Hand from Human Demonstrations
IEEE Robotics and Automation Letters (RA-L), 2022
Jianglong Ye
Jiashun Wang
Binghao Huang
Yuzhe Qin
Xiaolong Wang
523
75
0
11 Jul 2022
Online Modeling and Control of Soft Multi-fingered Grippers via Koopman Operator Theory
Lu Shi
Caio Mucchiani
Konstantinos Karydis
222
10
0
21 Jun 2022
Linear Delta Arrays for Compliant Dexterous Distributed Manipulation
IEEE International Conference on Robotics and Automation (ICRA), 2022
Sarvesh Patil
Tony S. Tao
Tess Hellebrekers
Oliver Kroemer
F. Z. Temel
119
7
0
09 Jun 2022
Visual Pressure Estimation and Control for Soft Robotic Grippers
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022
Patrick Grady
Jeremy Collins
Samarth Brahmbhatt
Christopher D. Twigg
Chengcheng Tang
James Hays
Charles C. Kemp
258
11
0
14 Apr 2022
Learning Generalizable Dexterous Manipulation from Human Grasp Affordance
Conference on Robot Learning (CoRL), 2022
Yueh-hua Wu
Jiashun Wang
Xiaolong Wang
457
84
0
05 Apr 2022
Malleable Agents for Re-Configurable Robotic Manipulators
Athindran Ramesh Kumar
Gurudutt Hosangadi
404
0
0
04 Feb 2022
DexVIP: Learning Dexterous Grasping with Human Hand Pose Priors from Video
Conference on Robot Learning (CoRL), 2022
Priyanka Mandikal
Kristen Grauman
532
130
0
01 Feb 2022
Autonomous soft hand grasping -- Literature review
Tai Hoang
93
1
0
27 Jan 2022
A Low-Cost, Easy-to-Manufacture, Flexible, Multi-Taxel Tactile Sensor and its Application to In-Hand Object Recognition
Tessa J. Pannen
Steffen Puhlmann
Oliver Brock
167
14
0
18 Nov 2021
Generalization in Dexterous Manipulation via Geometry-Aware Multi-Task Learning
Wenlong Huang
Igor Mordatch
Pieter Abbeel
Deepak Pathak
330
71
0
04 Nov 2021
A System for General In-Hand Object Re-Orientation
Conference on Robot Learning (CoRL), 2021
Tao Chen
Jie Xu
Pulkit Agrawal
386
297
0
04 Nov 2021
RRL: Resnet as representation for Reinforcement Learning
International Conference on Machine Learning (ICML), 2021
Rutav Shah
Vikash Kumar
OffRL
470
128
0
07 Jul 2021
Reset-Free Reinforcement Learning via Multi-Task Learning: Learning Dexterous Manipulation Behaviors without Human Intervention
IEEE International Conference on Robotics and Automation (ICRA), 2021
Abhishek Gupta
Justin Yu
Tony Zhao
Vikash Kumar
Aaron Rovinsky
Kelvin Xu
Thomas Devlin
Sergey Levine
OffRL
289
128
0
22 Apr 2021
Domain-Robust Visual Imitation Learning with Mutual Information Constraints
International Conference on Learning Representations (ICLR), 2021
Edoardo Cetin
Oya Celiktutan
OOD
DRL
255
22
0
08 Mar 2021
Design of an Affordable Prosthetic Arm Equipped with Deep Learning Vision-Based Manipulation
A. Imran
William Escobar
F. Barez
170
9
0
03 Mar 2021
Emergent Hand Morphology and Control from Optimizing Robust Grasps of Diverse Objects
IEEE International Conference on Robotics and Automation (ICRA), 2020
Xinlei Pan
Animesh Garg
Anima Anandkumar
Yuke Zhu
278
20
0
22 Dec 2020
Learning Dexterous Grasping with Object-Centric Visual Affordances
IEEE International Conference on Robotics and Automation (ICRA), 2020
Priyanka Mandikal
Kristen Grauman
445
162
0
03 Sep 2020
Crossmodal Language Grounding in an Embodied Neurocognitive Model
Frontiers in Neurorobotics (FN), 2020
Stefan Heinrich
Yuan Yao
Tobias Hinz
Zhiyuan Liu
Thomas Hummel
Matthias Kerzel
C. Weber
S. Wermter
LM&Ro
231
19
0
24 Jun 2020
The Ingredients of Real-World Robotic Reinforcement Learning
International Conference on Learning Representations (ICLR), 2020
Henry Zhu
Justin Yu
Abhishek Gupta
Dhruv Shah
Kristian Hartikainen
Avi Singh
Vikash Kumar
Sergey Levine
OffRL
345
200
0
27 Apr 2020
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