DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric
Fabrics

DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics

2 July 2024

Tyler Ga Wei Lum

Viktor Makoviychuk

Arthur Allshire

Nathan D. Ratliff

Papers citing "DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics"

16 / 16 papers shown

Title
Visual Imitation Enables Contextual Humanoid Control Arthur Allshire Hongsuk Choi Junyi Zhang David McAllister Anthony Zhang C. Kim Trevor Darrell Pieter Abbeel Jitendra Malik Angjoo Kanazawa LM&Ro 47 0 0 06 May 2025
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 33 1 0 17 Apr 2025
RobustDexGrasp: Robust Dexterous Grasping of General Objects Hui Zhang Zijian Wu Linyi Huang Sammy Christen Jie Song 27 1 0 07 Apr 2025
Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoids Toru Lin Kartik Sachdev Linxi Fan Jitendra Malik Yuke Zhu 44 5 0 27 Feb 2025
Grasp What You Want: Embodied Dexterous Grasping System Driven by Your Voice Junliang Li Kai Ye Haolan Kang Mingxuan Liang Yuhang Wu Zhenhua Liu Huiping Zhuang Rui Huang Yongquan Chen 59 0 0 14 Dec 2024
DextrAH-RGB: Visuomotor Policies to Grasp Anything with Dexterous Hands Ritvik Singh Arthur Allshire Ankur Handa Nathan D. Ratliff Karl Van Wyk 72 7 0 27 Nov 2024
FunGrasp: Functional Grasping for Diverse Dexterous Hands Linyi Huang Hui Zhang Zijian Wu Sammy Christen Jie Song 72 4 0 24 Nov 2024
Local Policies Enable Zero-shot Long-horizon Manipulation Murtaza Dalal Min Liu Walter Talbott Chen Chen Deepak Pathak Jian Zhang Ruslan Salakhutdinov 36 3 0 29 Oct 2024
FoAM: Foresight-Augmented Multi-Task Imitation Policy for Robotic Manipulation Litao Liu Wentao Wang Yifan Han Zhuoli Xie Pengfei Yi Junyan Li Yi Qin Wenzhao Lian 32 2 0 29 Sep 2024
SplatSim: Zero-Shot Sim2Real Transfer of RGB Manipulation Policies Using Gaussian Splatting M. N. Qureshi Sparsh Garg Francisco Yandún David Held George Kantor Abhisesh Silwal 3DGS 37 15 0 16 Sep 2024
DexDiffuser: Generating Dexterous Grasps with Diffusion Models Zehang Weng Haofei Lu Danica Kragic Jens Lundell 38 31 0 05 Feb 2024
On the Utility of Koopman Operator Theory in Learning Dexterous Manipulation Skills Yunhai Han Mandy Xie Ye Zhao H. Ravichandar 21 17 0 23 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 62 114 0 02 Mar 2023
GenDexGrasp: Generalizable Dexterous Grasping Puhao Li Tengyu Liu Yuyang Li Yiran Geng Yixin Zhu Yaodong Yang Siyuan Huang 63 63 0 03 Oct 2022
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning N. Rudin David Hoeller Philipp Reist Marco Hutter 108 535 0 24 Sep 2021
Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior Karl Van Wyk Mandy Xie Anqi Li M. A. Rana Buck Babich ... Iretiayo Akinola Balakumar Sundaralingam D. Fox Byron Boots Nathan D. Ratliff AI4CE 79 36 0 21 Sep 2021