Generalization in Dexterous Manipulation via Geometry-Aware Multi-Task Learning

4 November 2021

Wenlong Huang

Igor Mordatch

Pieter Abbeel

Deepak Pathak

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Papers citing "Generalization in Dexterous Manipulation via Geometry-Aware Multi-Task Learning"

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Title
MatchMaker: Automated Asset Generation for Robotic Assembly Yian Wang Bingjie Tang Chuang Gan Dieter Fox Kaichun Mo Yashraj S. Narang Iretiayo Akinola 53 0 0 07 Mar 2025
A comparison of visual representations for real-world reinforcement learning in the context of vacuum gripping Nico Sutter Valentin N. Hartmann Stelian Coros OffRL 66 0 0 04 Mar 2025
RobotIQ: Empowering Mobile Robots with Human-Level Planning for Real-World Execution Emmanuel K. Raptis Athanasios Ch. Kapoutsis Elias B. Kosmatopoulos LM&Ro 82 0 0 18 Feb 2025
DexH2R: Task-oriented Dexterous Manipulation from Human to Robots Shuqi Zhao Xinghao Zhu Yuxin Chen Chenran Li Xiang Zhang Mingyu Ding M. Tomizuka 47 3 0 07 Nov 2024
PointPatchRL -- Masked Reconstruction Improves Reinforcement Learning on Point Clouds B. Gyenes Nikolai Franke P. Becker Gerhard Neumann 3DPC 45 0 0 24 Oct 2024
Learning the Generalizable Manipulation Skills on Soft-body Tasks via Guided Self-attention Behavior Cloning Policy XueTao Li Fang Gao Jun Yu Shaodong Li Feng Shuang LM&Ro 23 0 0 08 Oct 2024
Diffusion-Informed Probabilistic Contact Search for Multi-Finger Manipulation Abhinav Kumar Thomas Power Fan Yang Sergio Aguilera Marinovic Soshi Iba Rana Soltani Zarrin Dmitry Berenson 36 0 0 01 Oct 2024
EyeSight Hand: Design of a Fully-Actuated Dexterous Robot Hand with Integrated Vision-Based Tactile Sensors and Compliant Actuation Branden Romero Hao-Shu Fang Pulkit Agrawal Edward H. Adelson 31 13 0 12 Aug 2024
Leveraging Locality to Boost Sample Efficiency in Robotic Manipulation Tong Zhang Yingdong Hu Jiacheng You Yang Gao 26 7 0 15 Jun 2024
CORN: Contact-based Object Representation for Nonprehensile Manipulation of General Unseen Objects Yoonyoung Cho Junhyek Han Yoontae Cho Beomjoon Kim 42 8 0 16 Mar 2024
TEXterity -- Tactile Extrinsic deXterity: Simultaneous Tactile Estimation and Control for Extrinsic Dexterity Sangwoon Kim Antonia Bronars P. Patre Alberto Rodriguez 35 9 0 29 Feb 2024
RealDex: Towards Human-like Grasping for Robotic Dexterous Hand Yumeng Liu Yaxun Yang Youzhuo Wang Xiaofei Wu Jiamin Wang ... Sibei Yang Wenping Wang Jingyi Yu Xuming He Yuexin Ma 36 14 0 21 Feb 2024
Learning by Watching: A Review of Video-based Learning Approaches for Robot Manipulation Chrisantus Eze Christopher Crick SSL 82 12 0 11 Feb 2024
TEXterity: Tactile Extrinsic deXterity Antonia Bronars Sangwoon Kim P. Patre Alberto Rodriguez 25 6 0 18 Jan 2024
Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis Yafei Hu Quanting Xie Vidhi Jain Jonathan M Francis Jay Patrikar ... Xiaolong Wang Sebastian A. Scherer Z. Kira Fei Xia Yonatan Bisk LM&Ro AI4CE 32 63 0 14 Dec 2023
SparseDFF: Sparse-View Feature Distillation for One-Shot Dexterous Manipulation Qianxu Wang Haotong Zhang Congyue Deng Yang You Hao Dong Yixin Zhu Leonidas J. Guibas 29 18 0 25 Oct 2023
DexCatch: Learning to Catch Arbitrary Objects with Dexterous Hands Fengbo Lan Shengjie Wang Yunzhe Zhang Haotian Xu Oluwatosin Oseni Yang Gao Tao Zhang 39 5 0 13 Oct 2023
GRID: A Platform for General Robot Intelligence Development Sai H. Vemprala Shuhang Chen Abhinav Shukla Dinesh Narayanan Ashish Kapoor 25 10 0 02 Oct 2023
General In-Hand Object Rotation with Vision and Touch Haozhi Qi Brent Yi Sudharshan Suresh Mike Lambeta Y. Ma Roberto Calandra Jitendra Malik 58 81 0 18 Sep 2023
LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learning Kenneth Shaw Ananye Agarwal Deepak Pathak 25 80 0 12 Sep 2023
Sequential Dexterity: Chaining Dexterous Policies for Long-Horizon Manipulation Yuanpei Chen Chen Wang Fei-Fei Li C. Karen Liu 4 40 0 02 Sep 2023
RVT: Robotic View Transformer for 3D Object Manipulation Ankit Goyal Jie Xu Yijie Guo Valts Blukis Yu-Wei Chao D. Fox LM&Ro 42 117 0 26 Jun 2023
One Policy to Dress Them All: Learning to Dress People with Diverse Poses and Garments Yufei Wang Zhanyi Sun Zackory M. Erickson David Held 25 25 0 21 Jun 2023
A Universal Semantic-Geometric Representation for Robotic Manipulation Tong Zhang Yingdong Hu Hanchen Cui Hang Zhao Yang Gao 70 17 0 18 Jun 2023
On the Efficacy of 3D Point Cloud Reinforcement Learning Z. Ling Yuan Yao Xuanlin Li H. Su 3DPC 31 13 0 11 Jun 2023
DexArt: Benchmarking Generalizable Dexterous Manipulation with Articulated Objects Chen Bao Helin Xu Yuzhe Qin Xiaolong Wang 25 32 0 09 May 2023
HACMan: Learning Hybrid Actor-Critic Maps for 6D Non-Prehensile Manipulation Wen-Min Zhou Bowen Jiang Fan Yang Chris Paxton David Held 20 32 0 06 May 2023
Progressive Transfer Learning for Dexterous In-Hand Manipulation with Multi-Fingered Anthropomorphic Hand Yongkang Luo Wanyi Li Peng Wang Haonan Duan Wei Wei Jia sun 35 1 0 19 Apr 2023
UniDexGrasp++: Improving Dexterous Grasping Policy Learning via Geometry-aware Curriculum and Iterative Generalist-Specialist Learning Weikang Wan Haoran Geng Yun-Hai Liu Zikang Shan Yaodong Yang Li Yi He-Nan Wang 44 94 0 02 Apr 2023
Bi-Manual Block Assembly via Sim-to-Real Reinforcement Learning Satoshi Kataoka Youngseog Chung Seyed Kamyar Seyed Ghasemipour Pannag R. Sanketi S. Gu Igor Mordatch 43 5 0 27 Mar 2023
Dexterity from Touch: Self-Supervised Pre-Training of Tactile Representations with Robotic Play Irmak Güzey Ben Evans Soumith Chintala Lerrel Pinto 70 65 0 21 Mar 2023
Learning to Transfer In-Hand Manipulations Using a Greedy Shape Curriculum Yunbo Zhang Alexander William Clegg Sehoon Ha Greg Turk Yuting Ye 39 9 0 14 Mar 2023
UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policy Yinzhen Xu Weikang Wan Jialiang Zhang Haoran Liu Zikang Shan ... Yijia Weng Jiayi Chen Tengyu Liu Li Yi He-Nan Wang 64 115 0 02 Mar 2023
Efficient Representations of Object Geometry for Reinforcement Learning of Interactive Grasping Policies Malte Mosbach Sven Behnke 26 4 0 20 Nov 2022
DexPoint: Generalizable Point Cloud Reinforcement Learning for Sim-to-Real Dexterous Manipulation Yuzhe Qin Binghao Huang Zhao-Heng Yin Hao Su Xiaolong Wang 3DPC 31 78 0 17 Nov 2022
DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality Ankur Handa Arthur Allshire Viktor Makoviychuk Aleksei Petrenko Ritvik Singh ... Balakumar Sundaralingam Yashraj S. Narang Jean-Francois Lafleche D. Fox Gavriel State 26 148 0 25 Oct 2022
Frame Mining: a Free Lunch for Learning Robotic Manipulation from 3D Point Clouds Minghua Liu Xuanlin Li Z. Ling Yangyan Li Hao Su 36 31 0 14 Oct 2022
Holo-Dex: Teaching Dexterity with Immersive Mixed Reality Sridhar Pandian Arunachalam Irmak Güzey Soumith Chintala Lerrel Pinto 37 67 0 12 Oct 2022
Learning Dexterous Manipulation from Exemplar Object Trajectories and Pre-Grasps Sudeep Dasari Abhi Gupta Vikash Kumar 52 42 0 22 Sep 2022
PACT: Perception-Action Causal Transformer for Autoregressive Robotics Pre-Training Rogerio Bonatti Sai H. Vemprala Shuang Ma Felipe Vieira Frujeri Shuhang Chen Ashish Kapoor 33 22 0 22 Sep 2022
Learning Continuous Grasping Function with a Dexterous Hand from Human Demonstrations Jianglong Ye Jiashun Wang Binghao Huang Yuzhe Qin Xiaolong Wang 114 50 0 11 Jul 2022
A Learning System for Motion Planning of Free-Float Dual-Arm Space Manipulator towards Non-Cooperative Object Shengjie Wang Yu-wen Cao Xiang Zheng Tao Zhang 19 16 0 06 Jul 2022
Towards Human-Level Bimanual Dexterous Manipulation with Reinforcement Learning Yuanpei Chen Tianhao Wu Shengjie Wang Xidong Feng Jiechuan Jiang ... Yiran Geng Hao Dong Zongqing Lu Song-Chun Zhu Yaodong Yang OffRL 38 108 0 17 Jun 2022
MyoSuite -- A contact-rich simulation suite for musculoskeletal motor control Vittorio Caggiano Huawei Wang G. Durandau Massimo Sartori Vikash Kumar 14 86 0 26 May 2022
Learning Generalizable Dexterous Manipulation from Human Grasp Affordance Yueh-hua Wu Jiashun Wang Xiaolong Wang 21 55 0 05 Apr 2022
Bi-Manual Manipulation and Attachment via Sim-to-Real Reinforcement Learning Satoshi Kataoka Seyed Kamyar Seyed Ghasemipour Daniel Freeman Igor Mordatch 16 19 0 15 Mar 2022
Blocks Assemble! Learning to Assemble with Large-Scale Structured Reinforcement Learning Seyed Kamyar Seyed Ghasemipour Daniel Freeman Byron David S. Gu Satoshi Kataoka Igor Mordatch OffRL 27 25 0 15 Mar 2022
Masked Visual Pre-training for Motor Control Tete Xiao Ilija Radosavovic Trevor Darrell Jitendra Malik SSL 34 241 0 11 Mar 2022
D-Grasp: Physically Plausible Dynamic Grasp Synthesis for Hand-Object Interactions Sammy Christen Muhammed Kocabas Emre Aksan Jemin Hwangbo Jie Song Otmar Hilliges 111 104 0 01 Dec 2021
Tool as Embodiment for Recursive Manipulation Yukiyasu Noguchi T. Matsushima Y. Matsuo S. Gu 30 7 0 01 Dec 2021