Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations

28 September 2017

Aravind Rajeswaran

Vikash Kumar

Abhishek Gupta

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

50 / 256 papers shown

Title
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
Replication of Impedance Identification Experiments on a Reinforcement-Learning-Controlled Digital Twin of Human Elbows Hao Yu Zebin Huang Qingbo Liu Ignacio Carlucho M. S. Erden 20 1 0 05 Feb 2024
SERL: A Software Suite for Sample-Efficient Robotic Reinforcement Learning Jianlan Luo Zheyuan Hu Charles Xu You Liang Tan Jacob Berg Archit Sharma S. Schaal Chelsea Finn Abhishek Gupta Sergey Levine OffRL OnRL 34 41 0 29 Jan 2024
Adaptive Motion Planning for Multi-fingered Functional Grasp via Force Feedback Dongying Tian Xiangbo Lin Yi Sun 26 3 0 22 Jan 2024
Efficient and Generalized end-to-end Autonomous Driving System with Latent Deep Reinforcement Learning and Demonstrations Zuojin Tang Xiaoyu Chen YongQiang Li Jianyu Chen 24 2 0 22 Jan 2024
Functional Eigen-Grasping Using Approach Heatmaps Malek Aburub Kazuki Higashi Weiwei Wan Kensuke Harada 74 1 0 22 Jan 2024
Large Scale Foundation Models for Intelligent Manufacturing Applications: A Survey Haotian Zhang S. D. Semujju Zhicheng Wang Xianwei Lv Kang Xu ... Jing Wu Zhuo Long Wensheng Liang Xiaoguang Ma Ruiyan Zhuang UQCV AI4TS AI4CE 29 4 0 11 Dec 2023
RLIF: Interactive Imitation Learning as Reinforcement Learning Jianlan Luo Perry Dong Yuexiang Zhai Yi Ma Sergey Levine OffRL 33 14 0 21 Nov 2023
Constraint-aware Policy for Compliant Manipulation Daichi Saito Kazuhiro Sasabuchi Naoki Wake Atsushi Kanehira Jun Takamatsu Hideki Koike Katsushi Ikeuchi 21 0 0 18 Nov 2023
Offline Retraining for Online RL: Decoupled Policy Learning to Mitigate Exploration Bias Max Sobol Mark Archit Sharma Fahim Tajwar Rafael Rafailov Sergey Levine Chelsea Finn OffRL OnRL 34 1 0 12 Oct 2023
Memory-Consistent Neural Networks for Imitation Learning Kaustubh Sridhar Souradeep Dutta Dinesh Jayaraman James Weimer Insup Lee 44 8 0 09 Oct 2023
Planning to Go Out-of-Distribution in Offline-to-Online Reinforcement Learning Trevor A. McInroe Adam Jelley Stefano V. Albrecht Amos Storkey OffRL OnRL 28 6 0 09 Oct 2023
H-InDex: Visual Reinforcement Learning with Hand-Informed Representations for Dexterous Manipulation Yanjie Ze Yuyao Liu Ruizhe Shi Jiaxin Qin Zhecheng Yuan Jiashun Wang Huazhe Xu 34 1 0 02 Oct 2023
Machine Learning Meets Advanced Robotic Manipulation Saeid Nahavandi R. Alizadehsani D. Nahavandi Chee Peng Lim Kevin Kelly Fernando Bello 24 17 0 22 Sep 2023
See to Touch: Learning Tactile Dexterity through Visual Incentives Irmak Güzey Yinlong Dai Ben Evans Soumith Chintala Lerrel Pinto 29 31 0 21 Sep 2023
GraspGF: Learning Score-based Grasping Primitive for Human-assisting Dexterous Grasping Tianhao Wu Mingdong Wu Jiyao Zhang Yunchong Gan Hao Dong 46 20 0 12 Sep 2023
REBOOT: Reuse Data for Bootstrapping Efficient Real-World Dexterous Manipulation Zheyuan Hu Aaron Rovinsky Jianlan Luo Vikash Kumar Abhishek Gupta Sergey Levine OffRL 22 9 0 06 Sep 2023
Hundreds Guide Millions: Adaptive Offline Reinforcement Learning with Expert Guidance Qisen Yang Shenzhi Wang Qihang Zhang Gao Huang Shiji Song OffRL OnRL 26 8 0 04 Sep 2023
Exploring Visual Pre-training for Robot Manipulation: Datasets, Models and Methods Ya Jing Xuelin Zhu Xingbin Liu Qie Sima Taozheng Yang Yunhai Feng Tao Kong LM&Ro 45 16 0 07 Aug 2023
AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System Yuzhe Qin Wei Yang Binghao Huang Karl Van Wyk Hao Su Xiaolong Wang Yu-Wei Chao Dieter Fox 54 94 0 10 Jul 2023
A Framework for Learning from Demonstration with Minimal Human Effort Marc Rigter Bruno Lacerda Nick Hawes 28 28 0 15 Jun 2023
Curricular Subgoals for Inverse Reinforcement Learning Shunyu Liu Yunpeng Qing Shuqi Xu Hongyan Wu Jiangtao Zhang Jingyuan Cong Tianhao Chen Yunfu Liu Mingli Song 23 1 0 14 Jun 2023
Self-Paced Absolute Learning Progress as a Regularized Approach to Curriculum Learning Tobias Niehues Ulla Scheler Pascal Klink 24 0 0 09 Jun 2023
Coherent Soft Imitation Learning Joe Watson Sandy H. Huang Nicholas Heess 34 11 0 25 May 2023
Adaptive action supervision in reinforcement learning from real-world multi-agent demonstrations Keisuke Fujii Kazushi Tsutsui Atom Scott Hiroshi Nakahara Naoya Takeishi Yoshinobu Kawahara 29 6 0 22 May 2023
Exploiting Symmetry and Heuristic Demonstrations in Off-policy Reinforcement Learning for Robotic Manipulation Amir M. Soufi Enayati Zengjie Zhang Kashish Gupta H. Najjaran OffRL 16 0 0 12 Apr 2023
Learning Robot Manipulation from Cross-Morphology Demonstration G. Salhotra Isabella Liu Gaurav Sukhatme LM&Ro 25 9 0 07 Apr 2023
CRISP: Curriculum inducing Primitive Informed Subgoal Prediction Utsav Singh Vinay P. Namboodiri 31 3 0 07 Apr 2023
Online augmentation of learned grasp sequence policies for more adaptable and data-efficient in-hand manipulation E. Gordon Rana Soltani-Zarrin OffRL 24 5 0 04 Apr 2023
Chain-of-Thought Predictive Control Zhiwei Jia Vineet Thumuluri Fangchen Liu Ling-Hao Chen Zhiao Huang H. Su LM&Ro 39 20 0 03 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 Wang 50 94 0 02 Apr 2023
PartManip: Learning Cross-Category Generalizable Part Manipulation Policy from Point Cloud Observations Haoran Geng Ziming Li Yiran Geng Jiayi Chen Hao Dong He Wang 3DPC 45 41 0 29 Mar 2023
Learning Excavation of Rigid Objects with Offline Reinforcement Learning Shiyu Jin Zhixian Ye Liangjun Zhang OffRL 24 7 0 29 Mar 2023
Dexterity from Touch: Self-Supervised Pre-Training of Tactile Representations with Robotic Play Irmak Güzey Ben Evans Soumith Chintala Lerrel Pinto 70 66 0 21 Mar 2023
Learning to Transfer In-Hand Manipulations Using a Greedy Shape Curriculum Yunbo Zhang Alexander Clegg Sehoon Ha Greg Turk Yuting Ye 39 8 0 14 Mar 2023
Adaptive Policy Learning for Offline-to-Online Reinforcement Learning Han Zheng Xufang Luo Pengfei Wei Xuan Song Dongsheng Li Jing Jiang OffRL OnRL 18 21 0 14 Mar 2023
Teach a Robot to FISH: Versatile Imitation from One Minute of Demonstrations Siddhant Haldar Jyothish Pari A. Rai Lerrel Pinto 30 66 0 02 Mar 2023
Self-Improving Robots: End-to-End Autonomous Visuomotor Reinforcement Learning Archit Sharma Ahmed M. Ahmed Rehaan Ahmad Chelsea Finn SSL 54 17 0 02 Mar 2023
Demonstration-Guided Reinforcement Learning with Efficient Exploration for Task Automation of Surgical Robot Tao Huang Kai-xiang Chen Bin Li Yunhui Liu Qingxu Dou 35 23 0 20 Feb 2023
ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skills Jiayuan Gu Fanbo Xiang Xuanlin Li Z. Ling Xiqiang Liu ... Xiao Yuan P. Xie Zhiao Huang Rui Chen Hao Su 34 175 0 09 Feb 2023
Efficient Online Reinforcement Learning with Offline Data Philip J. Ball Laura M. Smith Ilya Kostrikov Sergey Levine OffRL OnRL 34 163 0 06 Feb 2023
Policy Expansion for Bridging Offline-to-Online Reinforcement Learning Haichao Zhang Weiwen Xu Haonan Yu CLL OffRL OnRL 40 62 0 02 Feb 2023
ACPO: A Policy Optimization Algorithm for Average MDPs with Constraints Akhil Agnihotri R. Jain Haipeng Luo 26 2 0 02 Feb 2023
Constrained Reinforcement Learning for Dexterous Manipulation A. Jain Jack Kolb Harish Ravichandar 24 2 0 24 Jan 2023
PIRLNav: Pretraining with Imitation and RL Finetuning for ObjectNav Ram Ramrakhya Dhruv Batra Erik Wijmans Abhishek Das OffRL 26 53 0 18 Jan 2023
Sim2real Transfer Learning for Point Cloud Segmentation: An Industrial Application Case on Autonomous Disassembly Chengzhi Wu Xuelei Bi Julius Pfrommer Alexander Cebulla Simon Mangold Jürgen Beyerer 3DPC 27 20 0 12 Jan 2023
On Pathologies in KL-Regularized Reinforcement Learning from Expert Demonstrations Tim G. J. Rudner Cong Lu Michael A. Osborne Yarin Gal Yee Whye Teh OffRL 33 27 0 28 Dec 2022
Imitation Is Not Enough: Robustifying Imitation with Reinforcement Learning for Challenging Driving Scenarios Yiren Lu Justin Fu George Tucker Xinlei Pan Eli Bronstein ... Brandyn White Aleksandra Faust Shimon Whiteson Drago Anguelov Sergey Levine OffRL 31 92 0 21 Dec 2022
Dexterous Manipulation from Images: Autonomous Real-World RL via Substep Guidance Kelvin Xu Zheyuan Hu Ria Doshi Aaron Rovinsky Vikash Kumar Abhishek Gupta Sergey Levine 32 19 0 19 Dec 2022
Training Robots to Evaluate Robots: Example-Based Interactive Reward Functions for Policy Learning Kun-Yen Huang E. Hu Dinesh Jayaraman OffRL 38 5 0 17 Dec 2022