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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
Learning Prehensile Dexterity by Imitating and Emulating State-only
  Observations
Learning Prehensile Dexterity by Imitating and Emulating State-only Observations
Yunhai Han
Zhenyang Chen
Harish Ravichandar
136
5
0
08 Apr 2024
Demonstration Guided Multi-Objective Reinforcement Learning
Demonstration Guided Multi-Objective Reinforcement Learning
Junlin Lu
Patrick Mannion
Karl Mason
64
0
0
05 Apr 2024
JUICER: Data-Efficient Imitation Learning for Robotic Assembly
JUICER: Data-Efficient Imitation Learning for Robotic Assembly
Lars Ankile
Anthony Simeonov
Idan Shenfeld
Pulkit Agrawal
LM&Ro
117
19
0
04 Apr 2024
PhysReaction: Physically Plausible Real-Time Humanoid Reaction Synthesis
  via Forward Dynamics Guided 4D Imitation
PhysReaction: Physically Plausible Real-Time Humanoid Reaction Synthesis via Forward Dynamics Guided 4D Imitation
Yunze Liu
Changxi Chen
Chenjing Ding
Li Yi
67
6
0
01 Apr 2024
Learning Off-policy with Model-based Intrinsic Motivation For Active
  Online Exploration
Learning Off-policy with Model-based Intrinsic Motivation For Active Online Exploration
Yibo Wang
Jiang Zhao
OffRLOnRL
90
0
0
31 Mar 2024
GraspXL: Generating Grasping Motions for Diverse Objects at Scale
GraspXL: Generating Grasping Motions for Diverse Objects at Scale
Hui Zhang
Sammy Christen
Zicong Fan
Otmar Hilliges
Mingli Song
113
35
0
28 Mar 2024
DiffH2O: Diffusion-Based Synthesis of Hand-Object Interactions from
  Textual Descriptions
DiffH2O: Diffusion-Based Synthesis of Hand-Object Interactions from Textual Descriptions
Sammy Christen
Shreyas Hampali
Fadime Sener
Edoardo Remelli
Tomás Hodan
Eric Sauser
Shugao Ma
Bugra Tekin
100
25
0
26 Mar 2024
D-Cubed: Latent Diffusion Trajectory Optimisation for Dexterous
  Deformable Manipulation
D-Cubed: Latent Diffusion Trajectory Optimisation for Dexterous Deformable Manipulation
Jun Yamada
Shaohong Zhong
Jack Collins
Ingmar Posner
78
4
0
19 Mar 2024
Dexterous Functional Pre-Grasp Manipulation with Diffusion Policy
Dexterous Functional Pre-Grasp Manipulation with Diffusion Policy
Tianhao Wu
Yunchong Gan
Mingdong Wu
Jingbo Cheng
Yaodong Yang
Yixin Zhu
Hao Dong
89
0
0
19 Mar 2024
Bootstrapping Reinforcement Learning with Imitation for Vision-Based
  Agile Flight
Bootstrapping Reinforcement Learning with Imitation for Vision-Based Agile Flight
Jiaxu Xing
Angel Romero
L. Bauersfeld
Davide Scaramuzza
96
16
0
18 Mar 2024
Grasp Anything: Combining Teacher-Augmented Policy Gradient Learning
  with Instance Segmentation to Grasp Arbitrary Objects
Grasp Anything: Combining Teacher-Augmented Policy Gradient Learning with Instance Segmentation to Grasp Arbitrary Objects
Malte Mosbach
Sven Behnke
107
8
0
15 Mar 2024
Design and Control Co-Optimization for Automated Design Iteration of
  Dexterous Anthropomorphic Soft Robotic Hands
Design and Control Co-Optimization for Automated Design Iteration of Dexterous Anthropomorphic Soft Robotic Hands
Pragna Mannam
Xingyu Liu
Ding Zhao
Jean Oh
N. S. Pollard
100
2
0
15 Mar 2024
Spatiotemporal Predictive Pre-training for Robotic Motor Control
Spatiotemporal Predictive Pre-training for Robotic Motor Control
Jiange Yang
Bei Liu
Jianlong Fu
Bocheng Pan
Gangshan Wu
Limin Wang
108
12
0
08 Mar 2024
3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple
  3D Representations
3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations
Yanjie Ze
Gu Zhang
Kangning Zhang
Chenyuan Hu
Muhan Wang
Huazhe Xu
VGen
179
95
0
06 Mar 2024
Reconciling Reality through Simulation: A Real-to-Sim-to-Real Approach
  for Robust Manipulation
Reconciling Reality through Simulation: A Real-to-Sim-to-Real Approach for Robust Manipulation
M. Torné
Anthony Simeonov
Zechu Li
April Chan
Tao Chen
Abhishek Gupta
Pulkit Agrawal
107
70
0
06 Mar 2024
PRIME: Scaffolding Manipulation Tasks with Behavior Primitives for
  Data-Efficient Imitation Learning
PRIME: Scaffolding Manipulation Tasks with Behavior Primitives for Data-Efficient Imitation Learning
Tian Gao
Soroush Nasiriany
Huihan Liu
Quantao Yang
Yuke Zhu
113
8
0
01 Mar 2024
TEXterity -- Tactile Extrinsic deXterity: Simultaneous Tactile
  Estimation and Control for Extrinsic Dexterity
TEXterity -- Tactile Extrinsic deXterity: Simultaneous Tactile Estimation and Control for Extrinsic Dexterity
Sangwoon Kim
Antonia Bronars
P. Patre
Alberto Rodriguez
79
9
0
29 Feb 2024
A Model-Based Approach for Improving Reinforcement Learning Efficiency
  Leveraging Expert Observations
A Model-Based Approach for Improving Reinforcement Learning Efficiency Leveraging Expert Observations
E. C. Ozcan
Vittorio Giammarino
James Queeney
I. Paschalidis
OffRL
84
1
0
29 Feb 2024
Don't Start from Scratch: Behavioral Refinement via Interpolant-based
  Policy Diffusion
Don't Start from Scratch: Behavioral Refinement via Interpolant-based Policy Diffusion
Kaiqi Chen
Eugene Lim
Kelvin Lin
Yiyang Chen
Harold Soh
DiffM
97
11
0
25 Feb 2024
ACE : Off-Policy Actor-Critic with Causality-Aware Entropy
  Regularization
ACE : Off-Policy Actor-Critic with Causality-Aware Entropy Regularization
Tianying Ji
Yongyuan Liang
Yan Zeng
Yu-Juan Luo
Guowei Xu
Jiawei Guo
Ruijie Zheng
Furong Huang
Gang Hua
Huazhe Xu
CML
111
12
0
22 Feb 2024
Towards Tight Convex Relaxations for Contact-Rich Manipulation
Towards Tight Convex Relaxations for Contact-Rich Manipulation
B. P. Graesdal
S. Y. C. Chia
Tobia Marcucci
Savva Morozov
Alexandre Amice
P. Parrilo
Russ Tedrake
120
21
0
15 Feb 2024
Dataset Clustering for Improved Offline Policy Learning
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
89
2
0
14 Feb 2024
BBSEA: An Exploration of Brain-Body Synchronization for Embodied Agents
BBSEA: An Exploration of Brain-Body Synchronization for Embodied Agents
Sizhe Yang
Qian Luo
Anumpam Pani
Yanchao Yang
71
2
0
13 Feb 2024
Task-conditioned adaptation of visual features in multi-task policy
  learning
Task-conditioned adaptation of visual features in multi-task policy learning
Pierre Marza
L. Matignon
Olivier Simonin
Christian Wolf
99
3
0
12 Feb 2024
Learning by Watching: A Review of Video-based Learning Approaches for
  Robot Manipulation
Learning by Watching: A Review of Video-based Learning Approaches for Robot Manipulation
Chrisantus Eze
Christopher Crick
SSL
119
13
0
11 Feb 2024
An Optimal Control Formulation of Tool Affordance Applied to Impact
  Tasks
An Optimal Control Formulation of Tool Affordance Applied to Impact Tasks
Boyang Ti
Yongsheng Gao
Jie Zhao
Sylvain Calinon
58
3
0
08 Feb 2024
Kinematic Motion Retargeting for Contact-Rich Anthropomorphic
  Manipulations
Kinematic Motion Retargeting for Contact-Rich Anthropomorphic Manipulations
A. Lakshmipathy
Jessica Hodgins
N. S. Pollard
66
6
0
07 Feb 2024
Replication of Impedance Identification Experiments on a
  Reinforcement-Learning-Controlled Digital Twin of Human Elbows
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
87
1
0
05 Feb 2024
Expert Proximity as Surrogate Rewards for Single Demonstration Imitation
  Learning
Expert Proximity as Surrogate Rewards for Single Demonstration Imitation Learning
Chia-Cheng Chiang
Li-Cheng Lan
Wei-Fang Sun
Chien Feng
Cho-Jui Hsieh
Chun-Yi Lee
78
0
0
01 Feb 2024
Deep hybrid models: infer and plan in a dynamic world
Deep hybrid models: infer and plan in a dynamic world
Matteo Priorelli
Ivilin Peev Stoianov
59
3
0
01 Feb 2024
SERL: A Software Suite for Sample-Efficient Robotic Reinforcement Learning
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
OffRLOnRL
172
49
0
29 Jan 2024
RESPRECT: Speeding-up Multi-fingered Grasping with Residual
  Reinforcement Learning
RESPRECT: Speeding-up Multi-fingered Grasping with Residual Reinforcement Learning
Federico Ceola
Lorenzo Rosasco
Lorenzo Natale
81
6
0
26 Jan 2024
DexTouch: Learning to Seek and Manipulate Objects with Tactile Dexterity
DexTouch: Learning to Seek and Manipulate Objects with Tactile Dexterity
Kang-Won Lee
Yuzhe Qin
Xiaolong Wang
Soo-Chul Lim
48
3
0
23 Jan 2024
Adaptive Motion Planning for Multi-fingered Functional Grasp via Force
  Feedback
Adaptive Motion Planning for Multi-fingered Functional Grasp via Force Feedback
Dongying Tian
Xiangbo Lin
Yi Sun
103
3
0
22 Jan 2024
Efficient and Generalized end-to-end Autonomous Driving System with
  Latent Deep Reinforcement Learning and Demonstrations
Efficient and Generalized end-to-end Autonomous Driving System with Latent Deep Reinforcement Learning and Demonstrations
Zuojin Tang
Xiaoyu Chen
YongQiang Li
Jianyu Chen
116
3
0
22 Jan 2024
Functional Eigen-Grasping Using Approach Heatmaps
Functional Eigen-Grasping Using Approach Heatmaps
Malek Aburub
Kazuki Higashi
Weiwei Wan
Kensuke Harada
217
1
0
22 Jan 2024
TEXterity: Tactile Extrinsic deXterity
TEXterity: Tactile Extrinsic deXterity
Antonia Bronars
Sangwoon Kim
P. Patre
Alberto Rodriguez
107
8
0
18 Jan 2024
Exploration and Anti-Exploration with Distributional Random Network
  Distillation
Exploration and Anti-Exploration with Distributional Random Network Distillation
Kai Yang
Jian Tao
Jiafei Lyu
Xiu Li
112
17
0
18 Jan 2024
Visual Robotic Manipulation with Depth-Aware Pretraining
Visual Robotic Manipulation with Depth-Aware Pretraining
Wanying Wang
Jinming Li
Yichen Zhu
Zhiyuan Xu
Zhengping Che
Chaomin Shen
Yaxin Peng
Dong Liu
Feifei Feng
Jian Tang
MDE
87
4
0
17 Jan 2024
Self-supervised Pretraining for Decision Foundation Model: Formulation,
  Pipeline and Challenges
Self-supervised Pretraining for Decision Foundation Model: Formulation, Pipeline and Challenges
Xiaoqian Liu
Jianbin Jiao
Junge Zhang
OffRLLRM
100
2
0
29 Dec 2023
Generalizable Visual Reinforcement Learning with Segment Anything Model
Generalizable Visual Reinforcement Learning with Segment Anything Model
Ziyu Wang
Yanjie Ze
Yifei Sun
Zhecheng Yuan
Huazhe Xu
VLM
85
8
0
28 Dec 2023
DexDLO: Learning Goal-Conditioned Dexterous Policy for Dynamic
  Manipulation of Deformable Linear Objects
DexDLO: Learning Goal-Conditioned Dexterous Policy for Dynamic Manipulation of Deformable Linear Objects
Zhaole Sun
Jihong Zhu
Robert B. Fisher
86
8
0
23 Dec 2023
Diffusion Reward: Learning Rewards via Conditional Video Diffusion
Diffusion Reward: Learning Rewards via Conditional Video Diffusion
Tao Huang
Guangqi Jiang
Yanjie Ze
Huazhe Xu
VGen
113
26
0
21 Dec 2023
Small Dataset, Big Gains: Enhancing Reinforcement Learning by Offline
  Pre-Training with Model Based Augmentation
Small Dataset, Big Gains: Enhancing Reinforcement Learning by Offline Pre-Training with Model Based Augmentation
Girolamo Macaluso
Alessandro Sestini
Andrew D. Bagdanov
OffRLOnRL
43
3
0
15 Dec 2023
Large Scale Foundation Models for Intelligent Manufacturing
  Applications: A Survey
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
UQCVAI4TSAI4CE
90
4
0
11 Dec 2023
Scaling #DNN-Verification Tools with Efficient Bound Propagation and
  Parallel Computing
Scaling #DNN-Verification Tools with Efficient Bound Propagation and Parallel Computing
Luca Marzari
Gabriele Roncolato
Alessandro Farinelli
62
1
0
10 Dec 2023
Toward Open-ended Embodied Tasks Solving
Toward Open-ended Embodied Tasks Solving
William Wei Wang
Dongqi Han
Xufang Luo
Yifei Shen
Charles Ling
Boyu Wang
Dongsheng Li
AI4CE
72
5
0
10 Dec 2023
Dexterous Functional Grasping
Dexterous Functional Grasping
Ananye Agarwal
Shagun Uppal
Kenneth Shaw
Deepak Pathak
120
37
0
05 Dec 2023
Robot Synesthesia: In-Hand Manipulation with Visuotactile Sensing
Robot Synesthesia: In-Hand Manipulation with Visuotactile Sensing
Ying Yuan
Haichuan Che
Yuzhe Qin
Binghao Huang
Zhao-Heng Yin
Kang-Won Lee
Yi Wu
Soo-Chul Lim
Xiaolong Wang
115
48
0
04 Dec 2023
SAGE: Bridging Semantic and Actionable Parts for GEneralizable
  Manipulation of Articulated Objects
SAGE: Bridging Semantic and Actionable Parts for GEneralizable Manipulation of Articulated Objects
Haoran Geng
Songlin Wei
Congyue Deng
Bokui Shen
He Wang
Leonidas Guibas
LM&Ro
81
3
0
03 Dec 2023
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