General in-hand object rotation with vision and touch
We introduce Rotateit, a system that enables fingertip-based object rotation along multiple
axes by leveraging multimodal sensory inputs. Our system is trained in simulation, where it …
axes by leveraging multimodal sensory inputs. Our system is trained in simulation, where it …
Rotating without seeing: Towards in-hand dexterity through touch
Tactile information plays a critical role in human dexterity. It reveals useful contact
information that may not be inferred directly from vision. In fact, humans can even perform in …
information that may not be inferred directly from vision. In fact, humans can even perform in …
Survey of learning-based approaches for robotic in-hand manipulation
AI Weinberg, A Shirizly, O Azulay… - Frontiers in Robotics and …, 2024 - frontiersin.org
Human dexterity is an invaluable capability for precise manipulation of objects in complex
tasks. The capability of robots to similarly grasp and perform in-hand manipulation of objects …
tasks. The capability of robots to similarly grasp and perform in-hand manipulation of objects …
Sequential dexterity: Chaining dexterous policies for long-horizon manipulation
Many real-world manipulation tasks consist of a series of subtasks that are significantly
different from one another. Such long-horizon, complex tasks highlight the potential of …
different from one another. Such long-horizon, complex tasks highlight the potential of …
Lessons from Learning to Spin" Pens"
In-hand manipulation of pen-like objects is an important skill in our daily lives, as many tools
such as hammers and screwdrivers are similarly shaped. However, current learning-based …
such as hammers and screwdrivers are similarly shaped. However, current learning-based …
Dexcap: Scalable and portable mocap data collection system for dexterous manipulation
Imitation learning from human hand motion data presents a promising avenue for imbuing
robots with human-like dexterity in real-world manipulation tasks. Despite this potential …
robots with human-like dexterity in real-world manipulation tasks. Despite this potential …
Survey of Learning Approaches for Robotic In-Hand Manipulation
Human dexterity is an invaluable capability for precise manipulation of objects in complex
tasks. The capability of robots to similarly grasp and perform in-hand manipulation of objects …
tasks. The capability of robots to similarly grasp and perform in-hand manipulation of objects …
Sampling-based exploration for reinforcement learning of dexterous manipulation
In this paper, we present a novel method for achieving dexterous manipulation of complex
objects, while simultaneously securing the object without the use of passive support …
objects, while simultaneously securing the object without the use of passive support …
Vegetable peeling: A case study in constrained dexterous manipulation
Recent studies have made significant progress in addressing dexterous manipulation
problems, particularly in in-hand object reorientation. However, there are few existing works …
problems, particularly in in-hand object reorientation. However, there are few existing works …
TEXterity: Tactile Extrinsic deXterity
We introduce a novel approach that combines tactile estimation and control for in-hand
object manipulation. By integrating measurements from robot kinematics and an image …
object manipulation. By integrating measurements from robot kinematics and an image …