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Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations
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Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations

Aravind Rajeswaran
Vikash Kumar
Abhishek Gupta
Giulia Vezzani
John Schulman
E. Todorov
Sergey Levine
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Papers citing "Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations"

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Title
Augmenting Online RL with Offline Data is All You Need: A Unified Hybrid RL Algorithm Design and Analysis
Augmenting Online RL with Offline Data is All You Need: A Unified Hybrid RL Algorithm Design and Analysis
Ruiquan Huang
Donghao Li
Chengshuai Shi
Cong Shen
Jing Yang
OffRL
106
0
0
01 Jul 2025
Diffusion Models for Robotic Manipulation: A Survey
Diffusion Models for Robotic Manipulation: A Survey
Rosa Wolf
Yitian Shi
Sheng Liu
Rania Rayyes
127
2
0
01 Jul 2025
CDP: Towards Robust Autoregressive Visuomotor Policy Learning via Causal Diffusion
CDP: Towards Robust Autoregressive Visuomotor Policy Learning via Causal Diffusion
Jiahua Ma
Yiran Qin
Yixiong Li
Xuanqi Liao
Yulan Guo
Ruimao Zhang
19
0
0
17 Jun 2025
ClutterDexGrasp: A Sim-to-Real System for General Dexterous Grasping in Cluttered Scenes
ClutterDexGrasp: A Sim-to-Real System for General Dexterous Grasping in Cluttered Scenes
Zeyuan Chen
Qiyang Yan
Yuanpei Chen
Tianhao Wu
Jiyao Zhang
Zihan Ding
Jinzhou Li
Yaodong Yang
Hao Dong
15
0
0
17 Jun 2025
A Survey on Imitation Learning for Contact-Rich Tasks in Robotics
A Survey on Imitation Learning for Contact-Rich Tasks in Robotics
T. Tsuji
Y. Kato
Gokhan Solak
Heng Zhang
Tadej Petrič
Francesco Nori
Arash Ajoudani
24
0
0
16 Jun 2025
ExoStart: Efficient learning for dexterous manipulation with sensorized exoskeleton demonstrations
ExoStart: Efficient learning for dexterous manipulation with sensorized exoskeleton demonstrations
Zilin Si
José Enrique Chen
M. Emre Karagozler
Antonia Bronars
Jonathan Hutchinson
...
M. Martins
Konstantinos Bousmalis
N. Heess
F. Nori
Maria Bauza Villalonga
24
0
0
13 Jun 2025
MOORL: A Framework for Integrating Offline-Online Reinforcement Learning
Gaurav Chaudhary
Wassim Uddin Mondal
Laxmidhar Behera
OffRL
102
0
0
11 Jun 2025
Offline RL with Smooth OOD Generalization in Convex Hull and its Neighborhood
Qingmao Yao
Zhichao Lei
Tianyuan Chen
Ziyue Yuan
Xuefan Chen
Jianxiang Liu
Faguo Wu
Xiao Zhang
OffRL
26
1
0
10 Jun 2025
Dynamical System Optimization
Emo Todorov
24
0
0
10 Jun 2025
Reinforcement Learning via Implicit Imitation Guidance
Reinforcement Learning via Implicit Imitation Guidance
Perry Dong
Alec M. Lessing
Annie S. Chen
Chelsea Finn
OffRL
22
0
0
09 Jun 2025
FreqPolicy: Frequency Autoregressive Visuomotor Policy with Continuous Tokens
FreqPolicy: Frequency Autoregressive Visuomotor Policy with Continuous Tokens
Yiming Zhong
Yumeng Liu
Chuyang Xiao
Zemin Yang
Youzhuo Wang
Yufei Zhu
Ye-ling Shi
Yujing Sun
X. Zhu
Yuexin Ma
57
0
0
02 Jun 2025
DexMachina: Functional Retargeting for Bimanual Dexterous Manipulation
DexMachina: Functional Retargeting for Bimanual Dexterous Manipulation
Zhao Mandi
Yifan Hou
Dieter Fox
Yashraj S. Narang
Ajay Mandlekar
Shuran Song
53
1
0
30 May 2025
Interactive Imitation Learning for Dexterous Robotic Manipulation: Challenges and Perspectives -- A Survey
Interactive Imitation Learning for Dexterous Robotic Manipulation: Challenges and Perspectives -- A Survey
Edgar Welte
Rania Rayyes
14
0
0
30 May 2025
TwinTrack: Bridging Vision and Contact Physics for Real-Time Tracking of Unknown Dynamic Objects
TwinTrack: Bridging Vision and Contact Physics for Real-Time Tracking of Unknown Dynamic Objects
Wen Yang
Zhixian Xie
Xuechao Zhang
H. B. Amor
Shan Lin
Wanxin Jin
60
0
0
28 May 2025
A Framework for Adversarial Analysis of Decision Support Systems Prior to Deployment
A Framework for Adversarial Analysis of Decision Support Systems Prior to Deployment
Brett Bissey
Kyle Gatesman
Walker Dimon
Mohammad Alam
Luis Robaina
Joseph Weissman
AAML
43
0
0
27 May 2025
Decision Flow Policy Optimization
Decision Flow Policy Optimization
Jifeng Hu
Sili Huang
Siyuan Guo
Zhaogeng Liu
Li Shen
Lichao Sun
Hechang Chen
Yi-Ju Chang
Dacheng Tao
68
0
0
26 May 2025
Designing Pin-pression Gripper and Learning its Dexterous Grasping with Online In-hand Adjustment
Designing Pin-pression Gripper and Learning its Dexterous Grasping with Online In-hand Adjustment
Hewen Xiao
Xiuping Liu
Hang Zhao
Jian Liu
K. Xu
OnRL
247
0
0
25 May 2025
VLA-RL: Towards Masterful and General Robotic Manipulation with Scalable Reinforcement Learning
VLA-RL: Towards Masterful and General Robotic Manipulation with Scalable Reinforcement Learning
Guanxing Lu
Wenkai Guo
Chubin Zhang
Yuheng Zhou
Haonan Jiang
Zifeng Gao
Yansong Tang
Ziwei Wang
OffRL
112
0
0
24 May 2025
Imagine Beyond! Distributionally Robust Auto-Encoding for State Space Coverage in Online Reinforcement Learning
Imagine Beyond! Distributionally Robust Auto-Encoding for State Space Coverage in Online Reinforcement Learning
Nicolas Castanet
Olivier Sigaud
Sylvain Lamprier
OffRL
108
0
0
23 May 2025
Learning-based Autonomous Oversteer Control and Collision Avoidance
Learning-based Autonomous Oversteer Control and Collision Avoidance
Seokjun Lee
Seung-Hyun Kong
40
0
0
21 May 2025
TeleOpBench: A Simulator-Centric Benchmark for Dual-Arm Dexterous Teleoperation
TeleOpBench: A Simulator-Centric Benchmark for Dual-Arm Dexterous Teleoperation
Hangyu Li
Qin Zhao
Haoran Xu
Xinyu Jiang
Qingwei Ben
...
Jia Zeng
Hanqing Wang
Bo Dai
Junting Dong
Jiangmiao Pang
100
1
0
19 May 2025
Exploration by Random Distribution Distillation
Exploration by Random Distribution Distillation
Zhirui Fang
Kai Yang
Jian Tao
Jiafei Lyu
Lusong Li
Li Shen
Xiu Li
117
1
0
16 May 2025
H$^3$DP: Triply-Hierarchical Diffusion Policy for Visuomotor Learning
H3^3DP: Triply-Hierarchical Diffusion Policy for Visuomotor Learning
Yiyang Lu
Yufeng Tian
Zhecheng Yuan
Xinyu Wang
Pu Hua
Zhengrong Xue
Huazhe Xu
98
1
0
12 May 2025
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
56
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
407
1
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
Zhiyong Yang
Shengchao Hu
Li Shen
Hechang Chen
Lichao Sun
Yi-Ju Chang
Dacheng Tao
OffRL
421
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
149
0
0
01 May 2025
Multi-Goal Dexterous Hand Manipulation using Probabilistic Model-based Reinforcement Learning
Multi-Goal Dexterous Hand Manipulation using Probabilistic Model-based Reinforcement Learning
Yingzhuo Jiang
Wenjun Huang
Rongdun Lin
Chenyang Miao
Tianfu Sun
Yunduan Cui
67
0
0
30 Apr 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
86
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
77
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
143
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
122
1
0
17 Apr 2025
MAPLE: Encoding Dexterous Robotic Manipulation Priors Learned From Egocentric Videos
MAPLE: Encoding Dexterous Robotic Manipulation Priors Learned From Egocentric Videos
Alexey Gavryushin
Xi Wang
Robert J. S. Malate
Chenyu Yang
Xiaojun Jia
Shubh Goel
Davide Liconti
René Zurbrugg
Robert K. Katzschmann
Marc Pollefeys
92
2
0
08 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
113
1
0
07 Apr 2025
GROVE: A Generalized Reward for Learning Open-Vocabulary Physical Skill
GROVE: A Generalized Reward for Learning Open-Vocabulary Physical Skill
Jieming Cui
Tengyu Liu
Ziyu Meng
Jiale Yu
Ran Song
Wei Zhang
Yixin Zhu
Siyuan Huang
VLM
100
4
0
05 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
123
2
0
04 Apr 2025
G-DexGrasp: Generalizable Dexterous Grasping Synthesis Via Part-Aware Prior Retrieval and Prior-Assisted Generation
G-DexGrasp: Generalizable Dexterous Grasping Synthesis Via Part-Aware Prior Retrieval and Prior-Assisted Generation
Juntao Jian
Xiuping Liu
Z. Chen
Manyi Li
Jian Liu
Ruizhen Hu
82
1
0
25 Mar 2025
CONTHER: Human-Like Contextual Robot Learning via Hindsight Experience Replay and Transformers without Expert Demonstrations
CONTHER: Human-Like Contextual Robot Learning via Hindsight Experience Replay and Transformers without Expert Demonstrations
Maria Makarova
Qian Liu
Dzmitry Tsetserukou
OffRL
74
0
0
20 Mar 2025
Reinforcement learning-based motion imitation for physiologically plausible musculoskeletal motor control
Reinforcement learning-based motion imitation for physiologically plausible musculoskeletal motor control
Merkourios Simos
A. Chiappa
Alexander Mathis
80
1
0
18 Mar 2025
Dense Policy: Bidirectional Autoregressive Learning of Actions
Dense Policy: Bidirectional Autoregressive Learning of Actions
Yue Su
Xinyu Zhan
Hongjie Fang
Han Xue
Hao-Shu Fang
Yongqian Li
Cewu Lu
Lixin Yang
VGen
110
4
0
17 Mar 2025
ForceGrip: Reference-Free Curriculum Learning for Realistic Grip Force Control in VR Hand Manipulation
ForceGrip: Reference-Free Curriculum Learning for Realistic Grip Force Control in VR Hand Manipulation
DongHeun Han
Byungmin Kim
RoUn Lee
KyeongMin Kim
Hyoseok Hwang
HyeongYeop Kang
161
0
0
11 Mar 2025
Geometric Retargeting: A Principled, Ultrafast Neural Hand Retargeting Algorithm
Zhao-Heng Yin
Changhao Wang
Luis Pineda
Krishna Bodduluri
Tingfan Wu
Pieter Abbeel
Mustafa Mukadam
123
1
0
10 Mar 2025
Dexterous Hand Manipulation via Efficient Imitation-Bootstrapped Online Reinforcement Learning
Dongchi Huang
Tianle Zhang
Yihang Li
Ling Zhao
Jiayi Li
Zhirui Fang
Chunhe Xia
Lusong Li
Xiaodong He
OffRL
152
0
0
06 Mar 2025
Refined Policy Distillation: From VLA Generalists to RL Experts
Tobias Jülg
Wolfram Burgard
Florian Walter
OffRL
69
1
0
06 Mar 2025
Variable-Friction In-Hand Manipulation for Arbitrary Objects via Diffusion-Based Imitation Learning
Qiyang Yan
Zihan Ding
Xin Zhou
Adam J. Spiers
77
1
0
04 Mar 2025
Multi-Stage Manipulation with Demonstration-Augmented Reward, Policy, and World Model Learning
Multi-Stage Manipulation with Demonstration-Augmented Reward, Policy, and World Model Learning
Adrià López Escoriza
Nicklas Hansen
Stone Tao
Tongzhou Mu
H. Su
OffRL
90
1
0
03 Mar 2025
What Makes a Good Diffusion Planner for Decision Making?
Haofei Lu
Dongqi Han
Yifei Shen
Dongsheng Li
DiffM
112
11
0
01 Mar 2025
Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoids
Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoids
Toru Lin
Kartik Sachdev
Linxi Fan
Jitendra Malik
Yuke Zhu
128
11
0
27 Feb 2025
InterMimic: Towards Universal Whole-Body Control for Physics-Based Human-Object Interactions
InterMimic: Towards Universal Whole-Body Control for Physics-Based Human-Object Interactions
Sirui Xu
Hung Yu Ling
Yu-Xiong Wang
Liang-Yan Gui
145
10
0
27 Feb 2025
Robust Gymnasium: A Unified Modular Benchmark for Robust Reinforcement Learning
Robust Gymnasium: A Unified Modular Benchmark for Robust Reinforcement Learning
Shangding Gu
Laixi Shi
Muning Wen
Ming Jin
Eric Mazumdar
Yuejie Chi
Adam Wierman
C. Spanos
OODOffRL
90
2
0
27 Feb 2025

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