Dexterous Manipulation with Deep Reinforcement Learning: Efficient, General, and Low-Cost

14 October 2018

Henry Zhu

Abhishek Gupta

Aravind Rajeswaran

Sergey Levine

Vikash Kumar

OffRL

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Papers citing "Dexterous Manipulation with Deep Reinforcement Learning: Efficient, General, and Low-Cost"

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FADConv: A Frequency-Aware Dynamic Convolution for Farmland Non-agriculturalization Identification and Segmentation Tan Shu Li Shen 49 0 0 04 Apr 2025
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 106 1 0 08 Feb 2025
MeMo: Meaningful, Modular Controllers via Noise Injection Megan Tjandrasuwita Jie Xu Armando Solar-Lezama Wojciech Matusik 31 0 0 24 May 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 39 41 0 29 Jan 2024
REBOOT: Reuse Data for Bootstrapping Efficient Real-World Dexterous Manipulation Zheyuan Hu Aaron Rovinsky Jianlan Luo Vikash Kumar Abhishek Gupta Sergey Levine OffRL 27 9 0 06 Sep 2023
Data-Efficient Online Learning of Ball Placement in Robot Table Tennis Philip Tobuschat Hao Ma Le Chen Bernhard Schölkopf Michael Muehlebach 36 1 0 28 Aug 2023
Adaptive Policy Learning to Additional Tasks Wenjian Hao Zehui Lu Zihao Liang Tianyu Zhou Shaoshuai Mou 32 0 0 24 May 2023
Optimal Control of Nonlinear Systems with Unknown Dynamics Wenjian Hao Paulo C. Heredia Shaoshuai Mou 42 1 0 24 May 2023
DexArt: Benchmarking Generalizable Dexterous Manipulation with Articulated Objects Chen Bao Helin Xu Yuzhe Qin Xiaolong Wang 35 32 0 09 May 2023
On the Utility of Koopman Operator Theory in Learning Dexterous Manipulation Skills Yunhai Han Mandy Xie Ye Zhao Harish Ravichandar 37 17 0 23 Mar 2023
Dexterity from Touch: Self-Supervised Pre-Training of Tactile Representations with Robotic Play Irmak Güzey Ben Evans Soumith Chintala Lerrel Pinto 72 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 44 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
Self-Improving Robots: End-to-End Autonomous Visuomotor Reinforcement Learning Archit Sharma Ahmed M. Ahmed Rehaan Ahmad Chelsea Finn SSL 59 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 40 23 0 20 Feb 2023
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
DexPoint: Generalizable Point Cloud Reinforcement Learning for Sim-to-Real Dexterous Manipulation Yuzhe Qin Binghao Huang Zhao-Heng Yin Hao Su Xiaolong Wang 3DPC 31 78 0 17 Nov 2022
Learning on the Job: Self-Rewarding Offline-to-Online Finetuning for Industrial Insertion of Novel Connectors from Vision Ashvin Nair Brian Zhu Gokul Narayanan Eugen Solowjow Sergey Levine OffRL OnRL 30 15 0 27 Oct 2022
DexTransfer: Real World Multi-fingered Dexterous Grasping with Minimal Human Demonstrations Zoey Qiuyu Chen Karl Van Wyk Yu-Wei Chao Wei Yang Arsalan Mousavian Abhishek Gupta Dieter Fox 40 21 0 28 Sep 2022
DeltaZ: An Accessible Compliant Delta Robot Manipulator for Research and Education Sarvesh Patil Samuel C. Alvares Pragna Mannam Oliver Kroemer F. Z. Temel 29 5 0 02 Jul 2022
Towards Human-Level Bimanual Dexterous Manipulation with Reinforcement Learning Yuanpei Chen Tianhao Wu Shengjie Wang Xidong Feng Jiechuan Jiang ... Yiran Geng Hao Dong Zongqing Lu Song-Chun Zhu Yaodong Yang OffRL 51 110 0 17 Jun 2022
Multi-Fingered In-Hand Manipulation with Various Object Properties Using Graph Convolutional Networks and Distributed Tactile Sensors Satoshi Funabashi Tomoki Isobe Hongyi Fei Atsumu Hiramoto A. Schmitz S. Sugano Tetsuya Ogata 20 30 0 09 May 2022
Learning Generalizable Dexterous Manipulation from Human Grasp Affordance Yueh-hua Wu Jiashun Wang Xiaolong Wang 34 55 0 05 Apr 2022
Cloud-Edge Training Architecture for Sim-to-Real Deep Reinforcement Learning Hongpeng Cao Mirco Theile Federico G. Wyrwal Marco Caccamo 43 6 0 04 Mar 2022
DexVIP: Learning Dexterous Grasping with Human Hand Pose Priors from Video Priyanka Mandikal Kristen Grauman 143 93 0 01 Feb 2022
Generalization in Dexterous Manipulation via Geometry-Aware Multi-Task Learning Wenlong Huang Igor Mordatch Pieter Abbeel Deepak Pathak 43 63 0 04 Nov 2021
A System for General In-Hand Object Re-Orientation Tao Chen Jie Xu Pulkit Agrawal 45 251 0 04 Nov 2021
Contact Transfer: A Direct, User-Driven Method for Human to Robot Transfer of Grasps and Manipulations A. Lakshmipathy Dominik Bauer C. Bauer N. S. Pollard 18 13 0 29 Oct 2021
Goal-Aware Cross-Entropy for Multi-Target Reinforcement Learning Kibeom Kim Min Whoo Lee Yoonsung Kim Je-hwan Ryu Minsu Lee Byoung-Tak Zhang 24 8 0 25 Oct 2021
Autonomous Blimp Control using Deep Reinforcement Learning Y. Liu Eric Price Pascal Goldschmid Michael J. Black Aamir Ahmad AI4CE 32 3 0 22 Sep 2021
Autonomous Reinforcement Learning via Subgoal Curricula Archit Sharma Abhishek Gupta Sergey Levine Karol Hausman Chelsea Finn 27 27 0 27 Jul 2021
RRL: Resnet as representation for Reinforcement Learning Rutav Shah Vikash Kumar OffRL 36 112 0 07 Jul 2021
How to Train Your Robot with Deep Reinforcement Learning; Lessons We've Learned Julian Ibarz Jie Tan Chelsea Finn Mrinal Kalakrishnan P. Pastor Sergey Levine OffRL 16 520 0 04 Feb 2021
Continual Learning of Control Primitives: Skill Discovery via Reset-Games Kelvin Xu Siddharth Verma Chelsea Finn Sergey Levine CLL 33 33 0 10 Nov 2020
Learning Dexterous Grasping with Object-Centric Visual Affordances Priyanka Mandikal Kristen Grauman 30 136 0 03 Sep 2020
AWAC: Accelerating Online Reinforcement Learning with Offline Datasets Ashvin Nair Abhishek Gupta Murtaza Dalal Sergey Levine OffRL OnRL 46 592 0 16 Jun 2020
Guided Uncertainty-Aware Policy Optimization: Combining Learning and Model-Based Strategies for Sample-Efficient Policy Learning Michelle A. Lee Carlos Florensa Jonathan Tremblay Nathan D. Ratliff Animesh Garg Fabio Ramos Dieter Fox 23 60 0 21 May 2020
Deep Differentiable Grasp Planner for High-DOF Grippers Min Liu Zherong Pan Kai Xu Kanishka Ganguly Tianyi Zhou 31 72 0 04 Feb 2020
Learning Hierarchical Control for Robust In-Hand Manipulation Tingguang Li K. Srinivasan Max Q.-H. Meng Wenzhen Yuan Jeannette Bohg 29 41 0 24 Oct 2019
Imagined Value Gradients: Model-Based Policy Optimization with Transferable Latent Dynamics Models Arunkumar Byravan Jost Tobias Springenberg A. Abdolmaleki Roland Hafner Michael Neunert Thomas Lampe Noah Y. Siegel N. Heess Martin Riedmiller OffRL 17 41 0 09 Oct 2019
ROBEL: Robotics Benchmarks for Learning with Low-Cost Robots Michael Ahn Henry Zhu Kristian Hartikainen Hugo Ponte Abhishek Gupta Sergey Levine Vikash Kumar 32 126 0 25 Sep 2019
Stochastic Latent Actor-Critic: Deep Reinforcement Learning with a Latent Variable Model Alex X. Lee Anusha Nagabandi Pieter Abbeel Sergey Levine OffRL BDL 36 372 0 01 Jul 2019
PyRobot: An Open-source Robotics Framework for Research and Benchmarking Adithyavairavan Murali Tao Chen Kalyan Vasudev Alwala Dhiraj Gandhi Lerrel Pinto Saurabh Gupta Abhinav Gupta 32 107 0 19 Jun 2019
Goal-conditioned Imitation Learning Yiming Ding Carlos Florensa Mariano Phielipp Pieter Abbeel 34 219 0 13 Jun 2019
Efficient Exploration via State Marginal Matching Lisa Lee Benjamin Eysenbach Emilio Parisotto Eric Xing Sergey Levine Ruslan Salakhutdinov 35 242 0 12 Jun 2019
GRP Model for Sensorimotor Learning Tianyu Li Bolun Dai 16 0 0 01 Mar 2019
PNS: Population-Guided Novelty Search for Reinforcement Learning in Hard Exploration Environments Qihao Liu Yujia Wang Xiao-Fei Liu 25 8 0 26 Nov 2018
Transferring End-to-End Visuomotor Control from Simulation to Real World for a Multi-Stage Task Stephen James Andrew J. Davison Edward Johns 162 275 0 07 Jul 2017
CAD2RL: Real Single-Image Flight without a Single Real Image Fereshteh Sadeghi Sergey Levine SSL 246 812 0 13 Nov 2016