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Learning Complex Dexterous Manipulation with Deep Reinforcement Learning
  and Demonstrations
v1v2 (latest)

Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations

28 September 2017
Aravind Rajeswaran
Vikash Kumar
Abhishek Gupta
Giulia Vezzani
John Schulman
E. Todorov
Sergey Levine
ArXiv (abs)PDFHTML

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

50 / 708 papers shown
Title
Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization
Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization
Lujie Yang
H.J. Terry Suh
Tong Zhao
B. P. Graesdal
Tarik Kelestemur
Jiuguang Wang
Tao Pang
Russ Tedrake
149
5
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
SAMG: Offline-to-Online Reinforcement Learning via State-Action-Conditional Offline Model Guidance
SAMG: Offline-to-Online Reinforcement Learning via State-Action-Conditional Offline Model Guidance
Liyu Zhang
Haochi Wu
Xu Wan
Quan Kong
Ruilong Deng
Mingyang Sun
OffRLOnRL
61
0
0
24 Feb 2025
From Text to Trajectory: Exploring Complex Constraint Representation and Decomposition in Safe Reinforcement Learning
From Text to Trajectory: Exploring Complex Constraint Representation and Decomposition in Safe Reinforcement Learning
Pusen Dong
Tianchen Zhu
Yue Qiu
Haoyi Zhou
Jianxin Li
156
1
0
24 Feb 2025
Score-Based Diffusion Policy Compatible with Reinforcement Learning via Optimal Transport
Score-Based Diffusion Policy Compatible with Reinforcement Learning via Optimal Transport
Mingyang Sun
Pengxiang Ding
Weinan Zhang
Donglin Wang
OT
144
0
0
24 Feb 2025
Responsive Noise-Relaying Diffusion Policy: Responsive and Efficient Visuomotor Control
Zhuoqun Chen
Xiu Yuan
Tongzhou Mu
Hao Su
98
1
0
18 Feb 2025
DexTrack: Towards Generalizable Neural Tracking Control for Dexterous Manipulation from Human References
DexTrack: Towards Generalizable Neural Tracking Control for Dexterous Manipulation from Human References
Xueyi Liu
Jianibieke Adalibieke
Qianwei Han
Yuzhe Qin
Li Yi
168
3
0
13 Feb 2025
A Real-to-Sim-to-Real Approach to Robotic Manipulation with VLM-Generated Iterative Keypoint Rewards
A Real-to-Sim-to-Real Approach to Robotic Manipulation with VLM-Generated Iterative Keypoint Rewards
Shivansh Patel
Xinchen Yin
Wenlong Huang
Shubham Garg
H. Nayyeri
Li Fei-Fei
Svetlana Lazebnik
Yongqian Li
181
1
0
12 Feb 2025
ConRFT: A Reinforced Fine-tuning Method for VLA Models via Consistency Policy
ConRFT: A Reinforced Fine-tuning Method for VLA Models via Consistency Policy
Yuhui Chen
Shuai Tian
Shugao Liu
Yingting Zhou
Haoran Li
Dongbin Zhao
OffRL
213
13
0
08 Feb 2025
Rapidly Adapting Policies to the Real World via Simulation-Guided Fine-Tuning
Rapidly Adapting Policies to the Real World via Simulation-Guided Fine-Tuning
Patrick Yin
Tyler Westenbroek
Simran Bagaria
Kevin Huang
Ching-an Cheng
Andrey Kobolov
Abhishek Gupta
177
4
0
04 Feb 2025
Learning from Suboptimal Data in Continuous Control via Auto-Regressive Soft Q-Network
Learning from Suboptimal Data in Continuous Control via Auto-Regressive Soft Q-Network
Jijia Liu
Feng Gao
Q. Liao
Chao Yu
Yu Wang
OffRL
174
0
0
01 Feb 2025
SR-Reward: Taking The Path More Traveled
SR-Reward: Taking The Path More Traveled
Seyed Mahdi Basiri Azad
Zahra Padar
Gabriel Kalweit
Joschka Boedecker
OffRL
179
0
0
04 Jan 2025
DIPPER: Direct Preference Optimization to Accelerate Primitive-Enabled Hierarchical Reinforcement Learning
DIPPER: Direct Preference Optimization to Accelerate Primitive-Enabled Hierarchical Reinforcement Learning
Utsav Singh
Souradip Chakraborty
Wesley A Suttle
Brian M. Sadler
Vinay P. Namboodiri
Amrit Singh Bedi
OffRL
110
0
0
03 Jan 2025
Marvel: Accelerating Safe Online Reinforcement Learning with Finetuned Offline Policy
Marvel: Accelerating Safe Online Reinforcement Learning with Finetuned Offline Policy
Keru Chen
Honghao Wei
Zhigang Deng
Sen Lin
OffRLOnRL
166
0
0
31 Dec 2024
ACL-QL: Adaptive Conservative Level in Q-Learning for Offline Reinforcement Learning
ACL-QL: Adaptive Conservative Level in Q-Learning for Offline Reinforcement Learning
Kun Wu
Yinuo Zhao
Zhihao Xu
Zhengping Che
Chengxiang Yin
C. Liu
Qinru Qiu
Feiferi Feng
OffRL
170
1
0
22 Dec 2024
When Can Proxies Improve the Sample Complexity of Preference Learning?
When Can Proxies Improve the Sample Complexity of Preference Learning?
Yuchen Zhu
Daniel Augusto de Souza
Zhengyan Shi
Mengyue Yang
Pasquale Minervini
Alexander DÁmour
Matt J. Kusner
146
1
0
21 Dec 2024
Dexterous Manipulation Based on Prior Dexterous Grasp Pose Knowledge
Dexterous Manipulation Based on Prior Dexterous Grasp Pose Knowledge
Hengxu Yan
Haoshu Fang
Cewu Lu
128
0
0
20 Dec 2024
When Should We Prefer State-to-Visual DAgger Over Visual Reinforcement
  Learning?
When Should We Prefer State-to-Visual DAgger Over Visual Reinforcement Learning?
Tongzhou Mu
Zhaoyang Li
Stanisław Wiktor Strzelecki
Xiu Yuan
Yunchao Yao
Litian Liang
H. Su
OffRL
127
2
0
18 Dec 2024
Policy Decorator: Model-Agnostic Online Refinement for Large Policy
  Model
Policy Decorator: Model-Agnostic Online Refinement for Large Policy Model
Xiu Yuan
Tongzhou Mu
Stone Tao
Yunhao Fang
Mengke Zhang
H. Su
OffRL
139
8
0
18 Dec 2024
RLDG: Robotic Generalist Policy Distillation via Reinforcement Learning
RLDG: Robotic Generalist Policy Distillation via Reinforcement Learning
Charles Xu
Qiyang Li
Jianlan Luo
Sergey Levine
OffRL
144
7
0
13 Dec 2024
Robot Learning with Super-Linear Scaling
Robot Learning with Super-Linear Scaling
M. Torné
Arhan Jain
Jiayi Yuan
Vidaaranya Macha
Lars L. Ankile
Anthony Simeonov
Pulkit Agrawal
Abhishek Gupta
LM&RoOffRL
122
3
0
02 Dec 2024
On the Surprising Effectiveness of Spectrum Clipping in Learning Stable Linear Dynamics
On the Surprising Effectiveness of Spectrum Clipping in Learning Stable Linear Dynamics
Hanyao Guo
Yunhai Han
Harish Ravichandar
162
0
0
02 Dec 2024
Dense Dynamics-Aware Reward Synthesis: Integrating Prior Experience with Demonstrations
Dense Dynamics-Aware Reward Synthesis: Integrating Prior Experience with Demonstrations
Cevahir Köprülü
Po-han Li
Tianyu Qiu
Ruihan Zhao
T. Westenbroek
David Fridovich-Keil
Sandeep Chinchali
Ufuk Topcu
OffRL
124
0
0
02 Dec 2024
Lift3D Foundation Policy: Lifting 2D Large-Scale Pretrained Models for
  Robust 3D Robotic Manipulation
Lift3D Foundation Policy: Lifting 2D Large-Scale Pretrained Models for Robust 3D Robotic Manipulation
Yueru Jia
Jiaming Liu
Sixiang Chen
Chenyang Gu
Zihan Wang
...
Lily Lee
Pengwei Wang
Zhongyuan Wang
Renrui Zhang
Shanghang Zhang
170
19
0
27 Nov 2024
Unpacking the Individual Components of Diffusion Policy
Unpacking the Individual Components of Diffusion Policy
Xiu Yuan
159
0
0
27 Nov 2024
Modulating Reservoir Dynamics via Reinforcement Learning for Efficient Robot Skill Synthesis
Zahra Koulaeizadeh
Erhan Oztop
64
0
0
17 Nov 2024
GSL-PCD: Improving Generalist-Specialist Learning with Point Cloud
  Feature-based Task Partitioning
GSL-PCD: Improving Generalist-Specialist Learning with Point Cloud Feature-based Task Partitioning
Xiu Yuan
76
0
0
11 Nov 2024
DexH2R: Task-oriented Dexterous Manipulation from Human to Robots
DexH2R: Task-oriented Dexterous Manipulation from Human to Robots
Shuqi Zhao
Xinghao Zhu
Yuxin Chen
Chenran Li
Xiang Zhang
Mingyu Ding
Masayoshi Tomizuka
104
4
0
07 Nov 2024
Reinforcement Learning Gradients as Vitamin for Online Finetuning
  Decision Transformers
Reinforcement Learning Gradients as Vitamin for Online Finetuning Decision Transformers
Kai Yan
Alex Schwing
Yu-Xiong Wang
OffRLOnRL
68
0
0
31 Oct 2024
Stepping Out of the Shadows: Reinforcement Learning in Shadow Mode
Stepping Out of the Shadows: Reinforcement Learning in Shadow Mode
Philipp Gassert
Matthias Althoff
62
0
0
30 Oct 2024
SoftCTRL: Soft conservative KL-control of Transformer Reinforcement
  Learning for Autonomous Driving
SoftCTRL: Soft conservative KL-control of Transformer Reinforcement Learning for Autonomous Driving
Minh Tri Huynh
Duc Dung Nguyen
OffRL
60
0
0
30 Oct 2024
Kinetix: Investigating the Training of General Agents through Open-Ended Physics-Based Control Tasks
Kinetix: Investigating the Training of General Agents through Open-Ended Physics-Based Control Tasks
Michael T. Matthews
Michael Beukman
Chris Xiaoxuan Lu
Jakob Foerster
OffRLAI4CE
119
8
0
30 Oct 2024
Learning Transparent Reward Models via Unsupervised Feature Selection
Learning Transparent Reward Models via Unsupervised Feature Selection
Daulet Baimukashev
G. Alcan
K. Luck
Ville Kyrki
SSLOffRL
75
0
0
24 Oct 2024
MENTOR: Mixture-of-Experts Network with Task-Oriented Perturbation for Visual Reinforcement Learning
MENTOR: Mixture-of-Experts Network with Task-Oriented Perturbation for Visual Reinforcement Learning
Suning Huang
Zheyu Zhang
Tianhai Liang
Yihan Xu
Zhehao Kou
Chenhao Lu
Guowei Xu
Zhengrong Xue
Huazhe Xu
MoE
125
7
0
19 Oct 2024
Guided Reinforcement Learning for Robust Multi-Contact Loco-Manipulation
Guided Reinforcement Learning for Robust Multi-Contact Loco-Manipulation
Jean-Pierre Sleiman
Mayank Mittal
Marco Hutter
80
6
0
17 Oct 2024
Latent Weight Diffusion: Generating reactive policies instead of trajectories
Latent Weight Diffusion: Generating reactive policies instead of trajectories
Shashank Hegde
Satyajeet Das
G. Salhotra
Gaurav Sukhatme
85
0
0
17 Oct 2024
Mitigating Suboptimality of Deterministic Policy Gradients in Complex
  Q-functions
Mitigating Suboptimality of Deterministic Policy Gradients in Complex Q-functions
Ayush Jain
Norio Kosaka
Xinhu Li
Kyung-Min Kim
Erdem Bıyık
Joseph J. Lim
OffRL
46
0
0
15 Oct 2024
Control-oriented Clustering of Visual Latent Representation
Control-oriented Clustering of Visual Latent Representation
Han Qi
Haocheng Yin
Heng Yang
SSL
143
2
0
07 Oct 2024
Efficient Residual Learning with Mixture-of-Experts for Universal
  Dexterous Grasping
Efficient Residual Learning with Mixture-of-Experts for Universal Dexterous Grasping
Ziye Huang
Haoqi Yuan
Yuhui Fu
Zongqing Lu
86
4
0
03 Oct 2024
Diffusion-Informed Probabilistic Contact Search for Multi-Finger
  Manipulation
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
92
0
0
01 Oct 2024
Task-agnostic Pre-training and Task-guided Fine-tuning for Versatile Diffusion Planner
Task-agnostic Pre-training and Task-guided Fine-tuning for Versatile Diffusion Planner
Chenyou Fan
Chenjia Bai
Zhao Shan
Haoran He
Yang Zhang
Zhen Wang
104
3
0
30 Sep 2024
Target Pose Guided Whole-body Grasping Motion Generation for Digital
  Humans
Target Pose Guided Whole-body Grasping Motion Generation for Digital Humans
Quanquan Shao
Yi Fang
83
0
0
26 Sep 2024
A Versatile and Differentiable Hand-Object Interaction Representation
A Versatile and Differentiable Hand-Object Interaction Representation
Théo Morales
Omid Taheri
G. Lacey
67
0
0
25 Sep 2024
FLaRe: Achieving Masterful and Adaptive Robot Policies with Large-Scale
  Reinforcement Learning Fine-Tuning
FLaRe: Achieving Masterful and Adaptive Robot Policies with Large-Scale Reinforcement Learning Fine-Tuning
Jiaheng Hu
Rose Hendrix
Ali Farhadi
Aniruddha Kembhavi
Roberto Martín-Martín
Peter Stone
Kuo-Hao Zeng
Kiana Ehsani
121
15
0
25 Sep 2024
Robot Learning as an Empirical Science: Best Practices for Policy
  Evaluation
Robot Learning as an Empirical Science: Best Practices for Policy Evaluation
H. Kress-Gazit
Kunimatsu Hashimoto
Naveen Kuppuswamy
Paarth Shah
Phoebe Horgan
Gordon Richardson
Siyuan Feng
Benjamin Burchfiel
71
5
0
14 Sep 2024
Hand-Object Interaction Pretraining from Videos
Hand-Object Interaction Pretraining from Videos
Himanshu Gaurav Singh
Antonio Loquercio
Carmelo Sferrazza
Jane Wu
Haozhi Qi
Pieter Abbeel
Jitendra Malik
88
18
0
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DemoStart: Demonstration-led auto-curriculum applied to sim-to-real with
  multi-fingered robots
DemoStart: Demonstration-led auto-curriculum applied to sim-to-real with multi-fingered robots
Maria Bauzá
José Enrique Chen
Valentin Dalibard
Nimrod Gileadi
Roland Hafner
...
Martin Riedmiller
Jon Scholz
Konstantinos Bousmalis
Francesco Nori
Nicolas Heess
67
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Learning to Open and Traverse Doors with a Legged Manipulator
Learning to Open and Traverse Doors with a Legged Manipulator
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Yuntao Ma
Takahiro Miki
Marco Hutter
73
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Goal-Reaching Policy Learning from Non-Expert Observations via Effective
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Goal-Reaching Policy Learning from Non-Expert Observations via Effective Subgoal Guidance
Renming Huang
Shaochong Liu
Yunqiang Pei
Peng Wang
Guoqing Wang
Yang Yang
Hengtao Shen
OffRL
86
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Diffusion Policy Policy Optimization
Diffusion Policy Policy Optimization
Allen Z. Ren
Justin Lidard
Lars L. Ankile
Anthony Simeonov
Pulkit Agrawal
Anirudha Majumdar
Benjamin Burchfiel
Hongkai Dai
Max Simchowitz
165
57
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01 Sep 2024
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