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UniDexGrasp++: Improving Dexterous Grasping Policy Learning via Geometry-aware Curriculum and Iterative Generalist-Specialist Learning

2 April 2023

Papers citing "UniDexGrasp++: Improving Dexterous Grasping Policy Learning via Geometry-aware Curriculum and Iterative Generalist-Specialist Learning"

50 / 81 papers shown

Title
ViTacFormer: Learning Cross-Modal Representation for Visuo-Tactile Dexterous Manipulation Liang Heng Haoran Geng Kaifeng Zhang Pieter Abbeel Jitendra Malik 20 0 0 19 Jun 2025
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 19 0 0 17 Jun 2025
Rodrigues Network for Learning Robot Actions Jialiang Zhang Haoran Geng Yang You Congyue Deng Pieter Abbeel Jitendra Malik Leonidas Guibas AI4CE 39 0 0 03 Jun 2025
Bigger, Regularized, Categorical: High-Capacity Value Functions are Efficient Multi-Task Learners Michal Nauman Marek Cygan Carmelo Sferrazza Aviral Kumar Pieter Abbeel OffRL 96 0 0 29 May 2025
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 252 0 0 25 May 2025
Emergent Active Perception and Dexterity of Simulated Humanoids from Visual Reinforcement Learning Zhengyi Luo Chen Tessler Toru Lin Ye Yuan Tairan He ... Yunrong Guo Gal Chechik Kris Kitani Linxi Fan Yuke Zhu 59 0 0 18 May 2025
Imitation Learning for Adaptive Control of a Virtual Soft Exoglove Shirui Lyu Vittorio Caggiano Matteo Leonetti Dario Farina Letizia Gionfrida 87 0 0 14 May 2025
Web2Grasp: Learning Functional Grasps from Web Images of Hand-Object Interactions Hongyi Chen Yunchao Yao Yufei Ye Zhixuan Xu Homanga Bharadhwaj Jiashun Wang Shubham Tulsiani Zackory Erickson Jeffrey Ichnowski 101 0 0 07 May 2025
Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomy Jiayi Chen Yubin Ke Lin Peng He Wang 68 0 0 26 Apr 2025
RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning Haoran Geng Feishi Wang Songlin Wei Yuchen Li Bangjun Wang ... Hao Dong Siyuan Huang Yue Wang Jitendra Malik Pieter Abbeel 192 8 0 26 Apr 2025
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 124 1 0 17 Apr 2025
HUMOTO: A 4D Dataset of Mocap Human Object Interactions Jiaxin Lu Chun-Hao Paul Huang Uttaran Bhattacharya Qixing Huang Yi Zhou 88 0 0 14 Apr 2025
RobustDexGrasp: Robust Dexterous Grasping of General Objects Hui Zhang Zijian Wu Linyi Huang Sammy Christen Jie Song 126 2 0 07 Apr 2025
DexSinGrasp: Learning a Unified Policy for Dexterous Object Singulation and Grasping in Cluttered Environments Lixin Xu Zixuan Liu Zhewei Gui Jingxiang Guo Zeyu Jiang Zhixuan Xu Chongkai Gao Lin Shao 66 0 0 06 Apr 2025
ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learning Kailin Li Puhao Li Tengyu Liu Yuyang Li Siyuan Huang 121 6 0 27 Mar 2025
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
MoMa-Kitchen: A 100K+ Benchmark for Affordance-Grounded Last-Mile Navigation in Mobile Manipulation P. Zhang Xianqiang Gao Yuhan Wu Kehui Liu Dong Wang Zechuan Wang Bin Zhao Yan Ding Xiaochen Li LM&Ro 107 4 0 14 Mar 2025
Sequential Multi-Object Grasping with One Dexterous Hand Sicheng He Zeyu Shangguan Kuanning Wang Yongchong Gu Yuqian Fu Yanwei Fu Daniel Seita 82 2 0 13 Mar 2025
AffordDexGrasp: Open-set Language-guided Dexterous Grasp with Generalizable-Instructive Affordance Yi-Lin Wei Mu Lin Yuhao Lin Jian-Jian Jiang Xiao-Ming Wu Ling-an Zeng Wei-Shi Zheng 122 3 0 10 Mar 2025
SRSA: Skill Retrieval and Adaptation for Robotic Assembly Tasks Yijie Guo Bingjie Tang Iretiayo Akinola Dieter Fox Abhishek Gupta Yashraj S. Narang 93 2 0 06 Mar 2025
COMBO-Grasp: Learning Constraint-Based Manipulation for Bimanual Occluded Grasping Jun Yamada Alexander L. Mitchell Jack Collins Ingmar Posner OffRL 156 0 0 17 Feb 2025
VinT-6D: A Large-Scale Object-in-hand Dataset from Vision, Touch and Proprioception Zhaoliang Wan Yonggen Ling Senlin Yi Lu Qi Wangwei Lee ... Xiao Teng Peng Lu Xu Yang Ming-Hsuan Yang Hui Cheng 123 5 0 31 Dec 2024
BODex: Scalable and Efficient Robotic Dexterous Grasp Synthesis Using Bilevel Optimization Jiayi Chen Yubin Ke Hongan Wang 146 5 0 21 Dec 2024
Dexterous Manipulation Based on Prior Dexterous Grasp Pose Knowledge Hengxu Yan Haoshu Fang Cewu Lu 128 0 0 20 Dec 2024
Grasp What You Want: Embodied Dexterous Grasping System Driven by Your Voice Junliang Li Kai Ye Haolan Kang Mingxuan Liang Yuhang Wu Zhenhua Liu Huiping Zhuang Rui Huang Yongquan Chen 138 0 0 14 Dec 2024
DextrAH-RGB: Visuomotor Policies to Grasp Anything with Dexterous Hands Ritvik Singh Arthur Allshire Ankur Handa Nathan D. Ratliff Karl Van Wyk 150 12 0 27 Nov 2024
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
Neural Attention Field: Emerging Point Relevance in 3D Scenes for One-Shot Dexterous Grasping Qianxu Wang Congyue Deng Tyler Ga Wei Lum Yuanpei Chen Yaodong Yang Jeannette Bohg Yixin Zhu Leonidas Guibas 84 4 0 30 Oct 2024
DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-scale Synthetic Cluttered Scenes Jialiang Zhang Haoran Liu Danshi Li Xinqiang Yu Haoran Geng Yufei Ding Jiayi Chen He Wang 93 23 0 30 Oct 2024
PointPatchRL -- Masked Reconstruction Improves Reinforcement Learning on Point Clouds B. Gyenes Nikolai Franke P. Becker Gerhard Neumann 3DPC 96 0 0 24 Oct 2024
CAGE: Causal Attention Enables Data-Efficient Generalizable Robotic Manipulation Shangning Xia Hongjie Fang Hao-Shu Fang Cewu Lu CML 86 5 0 19 Oct 2024
GraspDiffusion: Synthesizing Realistic Whole-body Hand-Object Interaction Patrick Kwon Hanbyul Joo 61 4 0 17 Oct 2024
Distribution Guidance Network for Weakly Supervised Point Cloud Semantic Segmentation Zhiyi Pan Wei-Nan Gao Shan Liu Ge Li 68 2 0 10 Oct 2024
Cross-Embodiment Dexterous Grasping with Reinforcement Learning Haoqi Yuan Bohan Zhou Yuhui Fu Zongqing Lu 82 8 0 03 Oct 2024
Learning Diverse Bimanual Dexterous Manipulation Skills from Human Demonstrations Bohan Zhou Haoqi Yuan Yuhui Fu Zongqing Lu 102 13 0 03 Oct 2024
Efficient Residual Learning with Mixture-of-Experts for Universal Dexterous Grasping Ziye Huang Haoqi Yuan Yuhui Fu Zongqing Lu 90 4 0 03 Oct 2024
ScissorBot: Learning Generalizable Scissor Skill for Paper Cutting via Simulation, Imitation, and Sim2Real Jiangran Lyu Yuxing Chen Tao Du Feng Zhu Huiquan Liu Yizhou Wang He Wang 108 7 0 21 Sep 2024
MoDex: Planning High-Dimensional Dexterous Control via Learning Neural Internal Models Tong Wu Shoujie Li Chuqiao Lyu Kit-Wa Sou Wang Sing Chan Wenbo Ding 109 0 0 17 Sep 2024
ManiDext: Hand-Object Manipulation Synthesis via Continuous Correspondence Embeddings and Residual-Guided Diffusion Jiajun Zhang Yuxiang Zhang Liang An Mengcheng Li Hongwen Zhang Zonghai Hu Yebin Liu 62 9 0 14 Sep 2024
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 69 6 0 10 Sep 2024
PhysPart: Physically Plausible Part Completion for Interactable Objects Rundong Luo Haoran Geng Congyue Deng Puhao Li Zan Wang Baoxiong Jia Leonidas Guibas Siyuan Huang 120 8 0 25 Aug 2024
A Surprisingly Efficient Representation for Multi-Finger Grasping Hengxu Yan Hao-Shu Fang Cewu Lu 77 0 0 05 Aug 2024
Lessons from Learning to Spin "Pens" Jun Wang Ying Yuan Haichuan Che Haozhi Qi Yi-An Ma Jitendra Malik Xiaolong Wang 141 18 0 26 Jul 2024
DexGrasp-Diffusion: Diffusion-based Unified Functional Grasp Synthesis Pipeline for Multi-Dexterous Robotic Hands Zhengsheng Zhang Lei Zhou Chenchen Liu Zhiyang Liu Chengran Yuan Sheng Guo Ruiteng Zhao Marcelo H. Ang Francis EH Tay 114 9 0 13 Jul 2024
AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometries Bingjie Tang Iretiayo Akinola Jie Xu Bowen Wen Ankur Handa Karl Van Wyk Dieter Fox Gaurav Sukhatme Fabio Ramos Yashraj S. Narang 210 17 0 10 Jul 2024
ClutterGen: A Cluttered Scene Generator for Robot Learning Yinsen Jia Boyuan Chen 114 4 0 07 Jul 2024
RAM: Retrieval-Based Affordance Transfer for Generalizable Zero-Shot Robotic Manipulation Yuxuan Kuang Junjie Ye Haoran Geng Jiageng Mao Congyue Deng Leonidas Guibas He Wang Yue Wang LM&Ro 115 26 0 05 Jul 2024
DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics Tyler Ga Wei Lum Martin Matak Viktor Makoviychuk Ankur Handa Arthur Allshire Tucker Hermans Nathan D. Ratliff Karl Van Wyk 126 18 0 02 Jul 2024
CORE4D: A 4D Human-Object-Human Interaction Dataset for Collaborative Object REarrangement Chengwen Zhang Yun-Hai Liu Ruofan Xing Bingda Tang Li Yi 80 12 0 27 Jun 2024
AIC MLLM: Autonomous Interactive Correction MLLM for Robust Robotic Manipulation Chuyan Xiong Chengyu Shen Xiaoqi Li Kaichen Zhou Jiaming Liu Ruiping Wang Hao Dong LRM 108 13 0 17 Jun 2024