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Learning Complex Dexterous Manipulation with Deep Reinforcement Learning
  and Demonstrations

Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations

28 September 2017
Aravind Rajeswaran
Vikash Kumar
Abhishek Gupta
Giulia Vezzani
John Schulman
E. Todorov
Sergey Levine
ArXivPDFHTML

Papers citing "Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations"

50 / 253 papers shown
Title
What Matters for Batch Online Reinforcement Learning in Robotics?
What Matters for Batch Online Reinforcement Learning in Robotics?
Perry Dong
Suvir Mirchandani
Dorsa Sadigh
Chelsea Finn
OffRL
31
0
0
12 May 2025
H$^{\mathbf{3}}$DP: Triply-Hierarchical Diffusion Policy for Visuomotor Learning
H3^{\mathbf{3}}3DP: Triply-Hierarchical Diffusion Policy for Visuomotor Learning
Yiyang Lu
Yufeng Tian
Zhecheng Yuan
Xinyu Wang
Pu Hua
Zhengrong Xue
Huazhe Xu
31
0
0
12 May 2025
Latent Adaptive Planner for Dynamic Manipulation
Latent Adaptive Planner for Dynamic Manipulation
Donghun Noh
Deqian Kong
Minglu Zhao
Andrew Lizarraga
Jianwen Xie
Ying Nian Wu
Dennis W. Hong
148
0
0
06 May 2025
Analytic Energy-Guided Policy Optimization for Offline Reinforcement Learning
Analytic Energy-Guided Policy Optimization for Offline Reinforcement Learning
Jifeng Hu
Sili Huang
Zhengyuan Yang
Shengchao Hu
Li Shen
H. Chen
Lichao Sun
Yi-Ju Chang
Dacheng Tao
OffRL
164
0
0
03 May 2025
A Survey of Robotic Navigation and Manipulation with Physics Simulators in the Era of Embodied AI
A Survey of Robotic Navigation and Manipulation with Physics Simulators in the Era of Embodied AI
Lik Hang Kenny Wong
Xueyang Kang
Kaixin Bai
Jianwei Zhang
56
0
0
01 May 2025
Dynamic Action Interpolation: A Universal Approach for Accelerating Reinforcement Learning with Expert Guidance
Dynamic Action Interpolation: A Universal Approach for Accelerating Reinforcement Learning with Expert Guidance
Wenjun Cao
52
0
0
26 Apr 2025
RL-Driven Data Generation for Robust Vision-Based Dexterous Grasping
RL-Driven Data Generation for Robust Vision-Based Dexterous Grasping
Atsushi Kanehira
Naoki Wake
Kazuhiro Sasabuchi
Jun Takamatsu
Katsushi Ikeuchi
42
0
0
25 Apr 2025
Integrating Learning-Based Manipulation and Physics-Based Locomotion for Whole-Body Badminton Robot Control
Integrating Learning-Based Manipulation and Physics-Based Locomotion for Whole-Body Badminton Robot Control
Haoran Wang
Zhiwei Shi
Chengxi Zhu
Yafei Qiao
Cheng Zhang
Fan Yang
Pengjie Ren
Lan Lu
D. Xuan
68
1
0
24 Apr 2025
Crossing the Human-Robot Embodiment Gap with Sim-to-Real RL using One Human Demonstration
Crossing the Human-Robot Embodiment Gap with Sim-to-Real RL using One Human Demonstration
Tyler Ga Wei Lum
Olivia Y. Lee
C. Karen Liu
Jeannette Bohg
42
1
0
17 Apr 2025
RobustDexGrasp: Robust Dexterous Grasping of General Objects
RobustDexGrasp: Robust Dexterous Grasping of General Objects
Hui Zhang
Zijian Wu
Linyi Huang
Sammy Christen
Jie Song
40
1
0
07 Apr 2025
FADConv: A Frequency-Aware Dynamic Convolution for Farmland Non-agriculturalization Identification and Segmentation
FADConv: A Frequency-Aware Dynamic Convolution for Farmland Non-agriculturalization Identification and Segmentation
Tan Shu
Li Shen
46
0
0
04 Apr 2025
SIGHT: Single-Image Conditioned Generation of Hand Trajectories for Hand-Object Interaction
SIGHT: Single-Image Conditioned Generation of Hand Trajectories for Hand-Object Interaction
Alexey Gavryushin
Florian Redhardt
Gaia Di Lorenzo
Luc Van Gool
Marc Pollefeys
Kaichun Mo
Xi Wang
42
0
0
28 Mar 2025
Score-Based Diffusion Policy Compatible with Reinforcement Learning via Optimal Transport
Score-Based Diffusion Policy Compatible with Reinforcement Learning via Optimal Transport
Mingyang Sun
Pengxiang Ding
Weinan Zhang
Donglin Wang
OT
83
0
0
24 Feb 2025
From Text to Trajectory: Exploring Complex Constraint Representation and Decomposition in Safe Reinforcement Learning
From Text to Trajectory: Exploring Complex Constraint Representation and Decomposition in Safe Reinforcement Learning
Pusen Dong
Tianchen Zhu
Yue Qiu
Haoyi Zhou
Jianxin Li
86
1
0
24 Feb 2025
DexTrack: Towards Generalizable Neural Tracking Control for Dexterous Manipulation from Human References
DexTrack: Towards Generalizable Neural Tracking Control for Dexterous Manipulation from Human References
Xueyi Liu
Jianibieke Adalibieke
Qianwei Han
Yuzhe Qin
Li Yi
74
3
0
13 Feb 2025
A Real-to-Sim-to-Real Approach to Robotic Manipulation with VLM-Generated Iterative Keypoint Rewards
A Real-to-Sim-to-Real Approach to Robotic Manipulation with VLM-Generated Iterative Keypoint Rewards
Shivansh Patel
Xinchen Yin
Wenlong Huang
Shubham Garg
H. Nayyeri
Li Fei-Fei
Svetlana Lazebnik
Yong Li
92
0
0
12 Feb 2025
ConRFT: A Reinforced Fine-tuning Method for VLA Models via Consistency Policy
ConRFT: A Reinforced Fine-tuning Method for VLA Models via Consistency Policy
Yuhui Chen
Shuai Tian
Shugao Liu
Yingting Zhou
Haoran Li
Dongbin Zhao
OffRL
106
1
0
08 Feb 2025
Rapidly Adapting Policies to the Real World via Simulation-Guided Fine-Tuning
Rapidly Adapting Policies to the Real World via Simulation-Guided Fine-Tuning
Patrick Yin
Tyler Westenbroek
Simran Bagaria
Kevin Huang
Ching-an Cheng
Andrey Kobolov
Abhishek Gupta
80
2
0
04 Feb 2025
SR-Reward: Taking The Path More Traveled
SR-Reward: Taking The Path More Traveled
Seyed Mahdi Basiri Azad
Zahra Padar
Gabriel Kalweit
Joschka Boedecker
OffRL
67
0
0
04 Jan 2025
DIPPER: Direct Preference Optimization to Accelerate Primitive-Enabled Hierarchical Reinforcement Learning
DIPPER: Direct Preference Optimization to Accelerate Primitive-Enabled Hierarchical Reinforcement Learning
Utsav Singh
Souradip Chakraborty
Wesley A Suttle
Brian M. Sadler
Vinay P. Namboodiri
Amrit Singh Bedi
OffRL
53
0
0
03 Jan 2025
Marvel: Accelerating Safe Online Reinforcement Learning with Finetuned Offline Policy
Marvel: Accelerating Safe Online Reinforcement Learning with Finetuned Offline Policy
Keru Chen
Honghao Wei
Zhigang Deng
Sen Lin
OffRL
OnRL
94
0
0
31 Dec 2024
ACL-QL: Adaptive Conservative Level in Q-Learning for Offline Reinforcement Learning
ACL-QL: Adaptive Conservative Level in Q-Learning for Offline Reinforcement Learning
Kun Wu
Yinuo Zhao
Zhihao Xu
Zhengping Che
Chengxiang Yin
C. Liu
Qinru Qiu
Feiferi Feng
OffRL
102
1
0
22 Dec 2024
On the Surprising Effectiveness of Spectrum Clipping in Learning Stable Linear Dynamics
On the Surprising Effectiveness of Spectrum Clipping in Learning Stable Linear Dynamics
Hanyao Guo
Yunhai Han
Harish Ravichandar
81
0
0
02 Dec 2024
Dense Dynamics-Aware Reward Synthesis: Integrating Prior Experience with Demonstrations
Dense Dynamics-Aware Reward Synthesis: Integrating Prior Experience with Demonstrations
Cevahir Köprülü
Po-han Li
Tianyu Qiu
Ruihan Zhao
T. Westenbroek
David Fridovich-Keil
Sandeep P. Chinchali
Ufuk Topcu
OffRL
94
0
0
02 Dec 2024
Learning Transparent Reward Models via Unsupervised Feature Selection
Learning Transparent Reward Models via Unsupervised Feature Selection
Daulet Baimukashev
G. Alcan
K. Luck
Ville Kyrki
SSL
OffRL
36
0
0
24 Oct 2024
Control-oriented Clustering of Visual Latent Representation
Control-oriented Clustering of Visual Latent Representation
Han Qi
Haocheng Yin
Heng Yang
SSL
55
2
0
07 Oct 2024
Task-agnostic Pre-training and Task-guided Fine-tuning for Versatile Diffusion Planner
Task-agnostic Pre-training and Task-guided Fine-tuning for Versatile Diffusion Planner
Chenyou Fan
Chenjia Bai
Zhao Shan
Haoran He
Yang Zhang
Zhen Wang
33
3
0
30 Sep 2024
Hand-Object Interaction Pretraining from Videos
Hand-Object Interaction Pretraining from Videos
Himanshu Gaurav Singh
Antonio Loquercio
Carmelo Sferrazza
Jane Wu
Haozhi Qi
Pieter Abbeel
Jitendra Malik
47
13
0
12 Sep 2024
DemoStart: Demonstration-led auto-curriculum applied to sim-to-real with
  multi-fingered robots
DemoStart: Demonstration-led auto-curriculum applied to sim-to-real with multi-fingered robots
Maria Bauzá
José Enrique Chen
Valentin Dalibard
Nimrod Gileadi
Roland Hafner
...
Martin Riedmiller
Jon Scholz
Konstantinos Bousmalis
Francesco Nori
Nicolas Heess
34
5
0
10 Sep 2024
Complementarity-Free Multi-Contact Modeling and Optimization for Dexterous Manipulation
Complementarity-Free Multi-Contact Modeling and Optimization for Dexterous Manipulation
Wanxin Jin
61
6
0
14 Aug 2024
Model-Based Transfer Learning for Contextual Reinforcement Learning
Model-Based Transfer Learning for Contextual Reinforcement Learning
Jung-Hoon Cho
Vindula Jayawardana
Sirui Li
Cathy Wu
OffRL
50
0
0
08 Aug 2024
Jacta: A Versatile Planner for Learning Dexterous and Whole-body
  Manipulation
Jacta: A Versatile Planner for Learning Dexterous and Whole-body Manipulation
Jan Brüdigam
Ali-Adeeb Abbas
Maks Sorokin
Kuan Fang
Brandon Hung
Maya Guru
Stefan Sosnowski
Jiuguang Wang
Sandra Hirche
Simon Le Cleac'h
36
2
0
02 Aug 2024
Preference-Guided Reinforcement Learning for Efficient Exploration
Preference-Guided Reinforcement Learning for Efficient Exploration
Guojian Wang
Faguo Wu
Xiao Zhang
Tianyuan Chen
Xuyang Chen
Lin Zhao
40
0
0
09 Jul 2024
FOSP: Fine-tuning Offline Safe Policy through World Models
FOSP: Fine-tuning Offline Safe Policy through World Models
Chenyang Cao
Yucheng Xin
Silang Wu
Longxiang He
Zichen Yan
Junbo Tan
Xueqian Wang
OffRL
61
0
0
06 Jul 2024
Residual-MPPI: Online Policy Customization for Continuous Control
Residual-MPPI: Online Policy Customization for Continuous Control
Pengcheng Wang
Chenran Li
Catherine Weaver
Kenta Kawamoto
Masayoshi Tomizuka
Chen Tang
Wei Zhan
OffRL
37
3
0
01 Jul 2024
Mitigating the Human-Robot Domain Discrepancy in Visual Pre-training for Robotic Manipulation
Mitigating the Human-Robot Domain Discrepancy in Visual Pre-training for Robotic Manipulation
Jiaming Zhou
Teli Ma
Kun-Yu Lin
Ronghe Qiu
Zifan Wang
Junwei Liang
52
4
0
20 Jun 2024
Visual Representation Learning with Stochastic Frame Prediction
Visual Representation Learning with Stochastic Frame Prediction
Huiwon Jang
Dongyoung Kim
Junsu Kim
Jinwoo Shin
Pieter Abbeel
Younggyo Seo
42
2
0
11 Jun 2024
LGR2: Language Guided Reward Relabeling for Accelerating Hierarchical Reinforcement Learning
LGR2: Language Guided Reward Relabeling for Accelerating Hierarchical Reinforcement Learning
Utsav Singh
Pramit Bhattacharyya
Vinay P. Namboodiri
LM&Ro
47
1
0
09 Jun 2024
DEER: A Delay-Resilient Framework for Reinforcement Learning with
  Variable Delays
DEER: A Delay-Resilient Framework for Reinforcement Learning with Variable Delays
Bo Xia
Yilun Kong
Yongzhe Chang
Bo Yuan
Zhiheng Li
Xueqian Wang
Bin Liang
OffRL
50
3
0
05 Jun 2024
ManiCM: Real-time 3D Diffusion Policy via Consistency Model for Robotic Manipulation
ManiCM: Real-time 3D Diffusion Policy via Consistency Model for Robotic Manipulation
Guanxing Lu
Zifeng Gao
Tianxing Chen
Wen-Dao Dai
Ziwei Wang
Yansong Tang
Yansong Tang
DiffM
76
14
0
03 Jun 2024
How to Leverage Diverse Demonstrations in Offline Imitation Learning
How to Leverage Diverse Demonstrations in Offline Imitation Learning
Sheng Yue
Jiani Liu
Xingyuan Hua
Ju Ren
Sen Lin
Junshan Zhang
Yaoxue Zhang
OffRL
34
3
0
24 May 2024
Hand-Object Interaction Controller (HOIC): Deep Reinforcement Learning
  for Reconstructing Interactions with Physics
Hand-Object Interaction Controller (HOIC): Deep Reinforcement Learning for Reconstructing Interactions with Physics
Haoyu Hu
Xinyu Yi
Zhe Cao
Jun-hai Yong
Feng Xu
40
2
0
04 May 2024
AdaDemo: Data-Efficient Demonstration Expansion for Generalist Robotic
  Agent
AdaDemo: Data-Efficient Demonstration Expansion for Generalist Robotic Agent
Tongzhou Mu
Yijie Guo
Jie Xu
Ankit Goyal
Hao Su
Dieter Fox
Animesh Garg
LM&Ro
44
0
0
11 Apr 2024
Learning Prehensile Dexterity by Imitating and Emulating State-only
  Observations
Learning Prehensile Dexterity by Imitating and Emulating State-only Observations
Yunhai Han
Zhenyang Chen
Harish Ravichandar
30
5
0
08 Apr 2024
JUICER: Data-Efficient Imitation Learning for Robotic Assembly
JUICER: Data-Efficient Imitation Learning for Robotic Assembly
Lars Ankile
Anthony Simeonov
Idan Shenfeld
Pulkit Agrawal
LM&Ro
42
15
0
04 Apr 2024
PhysReaction: Physically Plausible Real-Time Humanoid Reaction Synthesis
  via Forward Dynamics Guided 4D Imitation
PhysReaction: Physically Plausible Real-Time Humanoid Reaction Synthesis via Forward Dynamics Guided 4D Imitation
Yunze Liu
Changxi Chen
Chenjing Ding
Li Yi
34
6
0
01 Apr 2024
Learning Off-policy with Model-based Intrinsic Motivation For Active
  Online Exploration
Learning Off-policy with Model-based Intrinsic Motivation For Active Online Exploration
Yibo Wang
Jiang Zhao
OffRL
OnRL
25
0
0
31 Mar 2024
A Model-Based Approach for Improving Reinforcement Learning Efficiency
  Leveraging Expert Observations
A Model-Based Approach for Improving Reinforcement Learning Efficiency Leveraging Expert Observations
E. C. Ozcan
Vittorio Giammarino
James Queeney
I. Paschalidis
OffRL
39
0
0
29 Feb 2024
ACE : Off-Policy Actor-Critic with Causality-Aware Entropy
  Regularization
ACE : Off-Policy Actor-Critic with Causality-Aware Entropy Regularization
Tianying Ji
Yongyuan Liang
Yan Zeng
Yu-Juan Luo
Guowei Xu
Jiawei Guo
Ruijie Zheng
Furong Huang
Gang Hua
Huazhe Xu
CML
48
11
0
22 Feb 2024
Dataset Clustering for Improved Offline Policy Learning
Dataset Clustering for Improved Offline Policy Learning
Qiang Wang
Yixin Deng
Francisco Roldan Sanchez
Keru Wang
Kevin McGuinness
Noel E. O'Connor
Stephen J. Redmond
OffRL
29
2
0
14 Feb 2024
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