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• EgoAERO: Learning Dexterous Manipulation from a Single Egocentric Video without Object Assets
  Egocentric RGB-D videos offer a natural source of human dexterous manipulation demonstrations, but existing data is difficult to use for robot learning because object pose, geometry, and contact information are often missing or require pre-scanned object asset…
  arxiv Yichen Niu, Haoran Lv, Xinrui Zhang, Xueyao Wan 等 2026-06-06T08:39:52Z 置信度 0.78 cs.ROcs.AI
• DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation
  We present DexUMI - a data collection and policy learning framework that uses the human hand as the natural interface to transfer dexterous manipulation skills to various robot hands. DexUMI includes hardware and software adaptations to minimize the embodiment…
  arxiv Mengda Xu, Han Zhang, Yifan Hou, Zhenjia Xu 等 2025-05-28T01:25:27Z 置信度 0.78 cs.RO
• Jacta: A Versatile Planner for Learning Dexterous and Whole-body Manipulation
  Robotic manipulation is challenging due to discontinuous dynamics, as well as high-dimensional state and action spaces. Data-driven approaches that succeed in manipulation tasks require large amounts of data and expert demonstrations, typically from humans. Ex…
  arxiv Jan Brüdigam, Ali-Adeeb Abbas, Maks Sorokin, Kuan Fang 等 2024-08-02T13:28:04Z 置信度 0.78 cs.RO
• Object-Focus Actor for Data-efficient Robot Generalization Dexterous Manipulation
  Robot manipulation learning from human demonstrations offers a rapid means to acquire skills but often lacks generalization across diverse scenes and object placements. This limitation hinders real-world applications, particularly in complex tasks requiring de…
  arxiv Yihang Li, Tianle Zhang, Xuelong Wei, Jiayi Li 等 2025-05-21T04:37:56Z 置信度 0.78 cs.ROcs.AI
• DexDLO: Learning Goal-Conditioned Dexterous Policy for Dynamic Manipulation of Deformable Linear Objects
  Deformable linear object (DLO) manipulation is needed in many fields. Previous research on deformable linear object (DLO) manipulation has primarily involved parallel jaw gripper manipulation with fixed grasping positions. However, the potential for dexterous …
  arxiv Sun Zhaole, Jihong Zhu, Robert B. Fisher 2023-12-23T09:26:20Z 置信度 0.78 cs.ROcs.LG
• QuasiSim: Parameterized Quasi-Physical Simulators for Dexterous Manipulations Transfer
  We explore the dexterous manipulation transfer problem by designing simulators. The task wishes to transfer human manipulations to dexterous robot hand simulations and is inherently difficult due to its intricate, highly-constrained, and discontinuous dynamics…
  arxiv Xueyi Liu, Kangbo Lyu, Jieqiong Zhang, Tao Du 等 2024-04-11T17:59:40Z 置信度 0.78 cs.ROcs.CVcs.GR
• ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learning
  Human hands play a central role in interacting, motivating increasing research in dexterous robotic manipulation. Data-driven embodied AI algorithms demand precise, large-scale, human-like manipulation sequences, which are challenging to obtain with convention…
  arxiv Kailin Li, Puhao Li, Tengyu Liu, Yuyang Li 等 2025-03-27T17:50:30Z 置信度 0.78 cs.ROcs.CV
• HumanoidGen: Data Generation for Bimanual Dexterous Manipulation via LLM Reasoning
  For robotic manipulation, existing robotics datasets and simulation benchmarks predominantly cater to robot-arm platforms. However, for humanoid robots equipped with dual arms and dexterous hands, simulation tasks and high-quality demonstrations are notably la…
  arxiv Zhi Jing, Siyuan Yang, Jicong Ao, Ting Xiao 等 2025-07-01T15:04:38Z 置信度 0.78 cs.ROcs.AI
• UniCross: Unified Cross-Skill Dexterous Manipulation Synthesis
  Many dexterous manipulation tasks require the object to remain securely held throughout the interaction. From the perspective of hand-object relational motion, such manipulation comprises four canonical skills: grasping, relocation, in-hand rotation, and in-ha…
  arxiv Hui Zhang, Julian Ferchow, Jie Song, Mirko Meboldt 2026-07-30T13:35:45Z 置信度 0.78 cs.ROcs.CV
• Learning Generalizable Dexterous Manipulation from Human Grasp Affordance
  Dexterous manipulation with a multi-finger hand is one of the most challenging problems in robotics. While recent progress in imitation learning has largely improved the sample efficiency compared to Reinforcement Learning, the learned policy can hardly genera…
  arxiv Yueh-Hua Wu, Jiashun Wang, Xiaolong Wang 2022-04-05T16:26:22Z 置信度 0.78 cs.ROcs.CVcs.LG
• Leveraging Kernelized Synergies on Shared Subspace for Precision Grasp and Dexterous Manipulation
  Manipulation in contrast to grasping is a trajectorial task that needs to use dexterous hands. Improving the dexterity of robot hands, increases the controller complexity and thus requires to use the concept of postural synergies. Inspired from postural synerg…
  arxiv Sunny Katyara, Fanny Ficuciello, Darwin Caldwell, Bruno Siciliano 等 2020-08-26T14:18:22Z 置信度 0.78 cs.ROeess.SY
• HumDex: Humanoid Dexterous Manipulation Made Easy
  This paper investigates humanoid whole-body dexterous manipulation, where the efficient collection of high-quality demonstration data remains a central bottleneck. Existing teleoperation systems often suffer from limited portability, occlusion, or insufficient…
  arxiv Liang Heng, Yihe Tang, Jiajun Xu, Henghui Bao 等 2026-03-12T17:59:39Z 置信度 0.78 cs.RO
• DexPoint: Generalizable Point Cloud Reinforcement Learning for Sim-to-Real Dexterous Manipulation
  We propose a sim-to-real framework for dexterous manipulation which can generalize to new objects of the same category in the real world. The key of our framework is to train the manipulation policy with point cloud inputs and dexterous hands. We propose two n…
  arxiv Yuzhe Qin, Binghao Huang, Zhao-Heng Yin, Hao Su 等 2022-11-17T09:17:42Z 置信度 0.78 cs.ROcs.CVcs.LG
• Dexterous In-hand Manipulation by Guiding Exploration with Simple Sub-skill Controllers
  Recently, reinforcement learning has led to dexterous manipulation skills of increasing complexity. Nonetheless, learning these skills in simulation still exhibits poor sample-efficiency which stems from the fact these skills are learned from scratch without t…
  arxiv Gagan Khandate, Cameron Mehlman, Xingsheng Wei, Matei Ciocarlie 2023-03-06T22:39:20Z 置信度 0.78 cs.ROcs.AIeess.SY
• DexImit: Learning Bimanual Dexterous Manipulation from Monocular Human Videos
  Data scarcity fundamentally limits the generalization of bimanual dexterous manipulation, as real-world data collection for dexterous hands is expensive and labor-intensive. Human manipulation videos, as a direct carrier of manipulation knowledge, offer signif…
  arxiv Juncheng Mu, Sizhe Yang, Yiming Bao, Hojin Bae 等 2026-02-10T18:59:02Z 置信度 0.78 cs.RO
• Do as I Do: Dexterous Manipulation Data from Everyday Human Videos
  How can we scalably generate data for robotic manipulation, especially on human-like platforms such as dexterous multi-fingered hands? Learning from human videos has recently emerged as a likely answer to this question. However, difficulties in estimating hand…
  arxiv Bhawna Paliwal, Haritheja Etukuru, William Liang, Pieter Abbeel 等 2026-06-17T17:57:34Z 置信度 0.78 cs.ROcs.CV
• Complementarity-Free Multi-Contact Modeling and Optimization for Dexterous Manipulation
  A significant barrier preventing model-based methods from achieving real-time and versatile dexterous robotic manipulation is the inherent complexity of multi-contact dynamics. Traditionally formulated as complementarity models, multi-contact dynamics introduc…
  arxiv Wanxin Jin 2024-08-14T23:48:26Z 置信度 0.78 cs.RO
• Structural Action Transformer for 3D Dexterous Manipulation
  Achieving human-level dexterity in robots via imitation learning from heterogeneous datasets is hindered by the challenge of cross-embodiment skill transfer, particularly for high-DoF robotic hands. Existing methods, often relying on 2D observations and tempor…
  arxiv Xiaohan Lei, Min Wang, Bohong Weng, Wengang Zhou 等 2026-03-04T11:38:12Z 置信度 0.78 cs.ROcs.CV
• Dual-Arm In-Hand Manipulation and Regrasping Using Dexterous Manipulation Graphs
  This work focuses on the problem of in-hand manipulation and regrasping of objects with parallel grippers. We propose Dexterous Manipulation Graph (DMG) as a representation on which we define planning for in-hand manipulation and regrasping. The DMG is a disco…
  arxiv Silvia Cruciani, Kaiyu Hang, Christian Smith, Danica Kragic 2019-04-25T14:35:54Z 置信度 0.78 cs.RO
• Object-Centric Dexterous Manipulation from Human Motion Data
  Manipulating objects to achieve desired goal states is a basic but important skill for dexterous manipulation. Human hand motions demonstrate proficient manipulation capability, providing valuable data for training robots with multi-finger hands. Despite this …
  arxiv Yuanpei Chen, Chen Wang, Yaodong Yang, C. Karen Liu 2024-11-06T15:44:10Z 置信度 0.78 cs.RO
• Dexterous Functional Pre-Grasp Manipulation with Diffusion Policy
  In real-world scenarios, objects often require repositioning and reorientation before they can be grasped, a process known as pre-grasp manipulation. Learning universal dexterous functional pre-grasp manipulation requires precise control over the relative posi…
  arxiv Tianhao Wu, Yunchong Gan, Mingdong Wu, Jingbo Cheng 等 2024-03-19T04:08:18Z 置信度 0.78 cs.RO
• Modality-Driven Design for Multi-Step Dexterous Manipulation: Insights from Neuroscience
  Multi-step dexterous manipulation is a fundamental skill in household scenarios, yet remains an underexplored area in robotics. This paper proposes a modular approach, where each step of the manipulation process is addressed with dedicated policies based on ef…
  arxiv Naoki Wake, Atsushi Kanehira, Daichi Saito, Jun Takamatsu 等 2024-12-15T23:05:16Z 置信度 0.78 cs.ROcs.AIcs.CV
• DEXOP: A Device for Robotic Transfer of Dexterous Human Manipulation
  We introduce perioperation, a paradigm for robotic data collection that sensorizes and records human manipulation while maximizing the transferability of the data to real robots. We implement this paradigm in DEXOP, a passive hand exoskeleton designed to maxim…
  arxiv Hao-Shu Fang, Branden Romero, Yichen Xie, Arthur Hu 等 2025-09-04T17:57:13Z 置信度 0.78 cs.ROcs.AIcs.CVcs.HC
• Goal-conditioned dual-action imitation learning for dexterous dual-arm robot manipulation
  Long-horizon dexterous robot manipulation of deformable objects, such as banana peeling, is a problematic task because of the difficulties in object modeling and a lack of knowledge about stable and dexterous manipulation skills. This paper presents a goal-con…
  arxiv Heecheol Kim, Yoshiyuki Ohmura, Yasuo Kuniyoshi 2022-03-18T05:17:00Z 置信度 0.78 cs.ROcs.CV
• On the Utility of Koopman Operator Theory in Learning Dexterous Manipulation Skills
  Despite impressive dexterous manipulation capabilities enabled by learning-based approaches, we are yet to witness widespread adoption beyond well-resourced laboratories. This is likely due to practical limitations, such as significant computational burden, in…
  arxiv Yunhai Han, Mandy Xie, Ye Zhao, Harish Ravichandar 2023-03-23T17:08:38Z 置信度 0.78 cs.RO
• ContactExplorer: Contact Coverage-Guided Exploration for General-Purpose Dexterous Manipulation
  Reinforcement learning has achieved remarkable success in domains such as Atari games, navigation, and locomotion, where exploration can often be guided by novelty over states or dynamics. In contrast, dexterous manipulation requires rich physical hand--object…
  arxiv Zixuan Liu, Ruoyi Qiao, Chenrui Tie, Xuanwei Liu 等 2026-03-11T16:55:49Z 置信度 0.78 cs.ROcs.AI
• LocoMan: Advancing Versatile Quadrupedal Dexterity with Lightweight Loco-Manipulators
  Quadrupedal robots have emerged as versatile agents capable of locomoting and manipulating in complex environments. Traditional designs typically rely on the robot's inherent body parts or incorporate top-mounted arms for manipulation tasks. However, these con…
  arxiv Changyi Lin, Xingyu Liu, Yuxiang Yang, Yaru Niu 等 2024-03-27T02:13:24Z 置信度 0.78 cs.RO
• Robotic Dexterous Manipulation via Anisotropic Friction Modulation using Passive Rollers
  Controlling friction at the fingertip is fundamental to dexterous manipulation, yet remains difficult to realize in robotic hands. We present the design and analysis of a robotic fingertip equipped with passive rollers that can be selectively braked or pivoted…
  arxiv Ethan Fisk, Taeyoon Lee, Shenli Yuan 2026-03-29T00:05:53Z 置信度 0.78 cs.RO
• Soft, Round, High Resolution Tactile Fingertip Sensors for Dexterous Robotic Manipulation
  High resolution tactile sensors are often bulky and have shape profiles that make them awkward for use in manipulation. This becomes important when using such sensors as fingertips for dexterous multi-fingered hands, where boxy or planar fingertips limit the a…
  arxiv Branden Romero, Filipe Veiga, Edward Adelson 2020-05-18T20:37:30Z 置信度 0.78 cs.RO
• Design-Informed Kinematic Control for Improved Dexterous Teleoperation of a Bilateral Manipulator System
  This paper explores the possibility of improving bilateral robot manipulation task performance through optimizing the robot morphology and configuration of the system through motion. To optimize the design for different scenarios, we select a set of tasks that…
  arxiv Lasitha Wijayarathne, Juan Vallejo, Anthony Barnum, Zachary Cloutier 等 2020-05-02T08:01:03Z 置信度 0.78 cs.RO
• Learning Diverse Bimanual Dexterous Manipulation Skills from Human Demonstrations
  Bimanual dexterous manipulation is a critical yet underexplored area in robotics. Its high-dimensional action space and inherent task complexity present significant challenges for policy learning, and the limited task diversity in existing benchmarks hinders g…
  arxiv Bohan Zhou, Haoqi Yuan, Yuhui Fu, Zongqing Lu 2024-10-03T13:35:15Z 置信度 0.78 cs.ROcs.LG
• ContactSDF: Signed Distance Functions as Multi-Contact Models for Dexterous Manipulation
  In this paper, we propose ContactSDF, a method that uses signed distance functions (SDFs) to approximate multi-contact models, including both collision detection and time-stepping routines. ContactSDF first establishes an SDF using the supporting plane represe…
  arxiv Wen Yang, Wanxin Jin 2024-08-18T23:23:59Z 置信度 0.78 cs.RO
• DexSim2Real: Foundation Model-Guided Sim-to-Real Transfer for Generalizable Dexterous Manipulation
  Sim-to-real transfer remains a critical bottleneck for deploying dexterous manipulation policies learned in simulation to real-world robots. Existing approaches rely on manually designed domain randomization or task-specific adaptation, limiting their generali…
  arxiv Zijian Zeng, Fei Ding, Huiming Yang, Xianwei Li 等 2026-05-03T17:29:29Z 置信度 0.78 cs.ROcs.LG
• Industrial Dexterity Benchmark: A Hardware-Software Benchmarking Platform for Industrial Dexterous Manipulation
  Dexterous manipulation remains a critical bottleneck in industrial automation; tasks such as cable routing, connector insertion, and precision assembly still rely heavily on manual labor despite decades of robotics research. This work presents a progression fr…
  arxiv Honglu He, Jacob Laufer, Zhiwu Zheng, David Elkan-gonzalez 等 2026-07-15T16:54:28Z 置信度 0.78 cs.RO
• Lightweight Fingernail Haptic Device: Unobstructed Fingerpad Force and Vibration Feedback for Enhanced Virtual Dexterous Manipulation
  This study presents a lightweight, wearable fingertip haptic device that provides physics-based haptic feedback for dexterous manipulation in virtual environments without hindering real-world interactions. The device, designed with thin strings and actuators a…
  arxiv Yunxiu Xu, Siyu Wang, Shoichi Hasegawa 2025-06-26T16:06:04Z 置信度 0.78 cs.HC
• CordViP: Correspondence-based Visuomotor Policy for Dexterous Manipulation in Real-World
  Achieving human-level dexterity in robots is a key objective in the field of robotic manipulation. Recent advancements in 3D-based imitation learning have shown promising results, providing an effective pathway to achieve this goal. However, obtaining high-qua…
  arxiv Yankai Fu, Qiuxuan Feng, Ning Chen, Zichen Zhou 等 2025-02-12T14:41:14Z 置信度 0.78 cs.ROcs.AI
• HERMES: Human-to-Robot Embodied Learning from Multi-Source Motion Data for Mobile Dexterous Manipulation
  Leveraging human motion data to impart robots with versatile manipulation skills has emerged as a promising paradigm in robotic manipulation. Nevertheless, translating multi-source human hand motions into feasible robot behaviors remains challenging, particula…
  arxiv Zhecheng Yuan, Tianming Wei, Langzhe Gu, Pu Hua 等 2025-08-27T17:53:46Z 置信度 0.78 cs.RO
• DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning
  Imitation learning from human demonstrations is an effective means to teach robots manipulation skills. But data acquisition is a major bottleneck in applying this paradigm more broadly, due to the amount of cost and human effort involved. There has been signi…
  arxiv Zhenyu Jiang, Yuqi Xie, Kevin Lin, Zhenjia Xu 等 2024-10-31T17:48:45Z 置信度 0.78 cs.ROcs.AIcs.CVcs.LG
• Strawberry Robotic Operation Interface: An Open-Source Device for Collecting Dexterous Manipulation Data in Robotic Strawberry Farming
  The strawberry farming is labor-intensive, particularly in tasks requiring dexterous manipulation such as picking occluded strawberries. To address this challenge, we present the Strawberry Robotic Operation Interface (SROI), an open-source device designed for…
  arxiv Linsheng Hou, Wenwu Lu, Yanan Wang, Chen Peng 等 2025-01-28T05:49:35Z 置信度 0.78 cs.RO
• SiMDex: Mining Similar Egocentric Videos for Cross-Embodiment Dexterous Manipulation
  Recent years have witnessed an explosive trend of scaling ego-centric human videos for robot manipulation, yet it remains unclear which data actually benefits dexterous manipulation. We present SiMDex, a similarity-based data mining framework that casts human …
  arxiv Nie Lin, Takehiko Ohkawa, Sijin Chen, Ruoshi Wen 等 2026-08-04T19:55:12Z 置信度 0.78 cs.ROcs.CVcs.LG
• Feel Robot Feels: Tactile Feedback Array Glove for Dexterous Manipulation
  Teleoperation is a key approach for collecting high-quality, physically consistent demonstrations for robotic manipulation. However, teleoperation for dexterous manipulation remains constrained by: (i) inaccurate hand-robot motion mapping, which limits teleope…
  arxiv Feiyu Jia, Xiaojie Niu, Sizhe Yang, Qingwei Ben 等 2026-03-30T15:04:13Z 置信度 0.78 cs.RO
• Multimodal perception for dexterous manipulation
  crossref Guanqun Cao, Shan Luo 2022-04-08T20:26:21Z 置信度 0.70
• Robust dexterous manipulation and finger gaiting under various uncertainties
  crossref Yongxiang Fan 2022-04-08T20:27:24Z 置信度 0.70
• GelTip tactile sensor for dexterous manipulation in clutter
  crossref Daniel Fernandes Gomes, Shan Luo 2022-04-08T20:26:28Z 置信度 0.70
• Dexterous sliding manipulation using soft fingers
  crossref Ying Xue 2019-05-03T12:47:00Z 置信度 0.70
• Planning robotic in-hand manipulation to reproduce skilled dexterous manipulation tasks
  Planification de la manipulation robotique à la main pour reproduire des tâches de manipulation fines Les humains manipulent des objets et des tâches quotidiennes, apprennent de nouvelles compétences et s'adaptent à de nouveaux environnements. Il s'agit d'une …
  crossref Ali Hammoud 2026-04-07T18:39:27Z 置信度 0.70
• Dexterous robotic manipulation: Batting and cutting
  crossref Xiaoqian Mu 2024-03-29T20:32:58Z 置信度 0.70
• Towards dexterous in-hand manipulation of unknown objects
  crossref Qiang Li, Robert Haschke, Helge Ritter 2022-04-08T20:27:23Z 置信度 0.70
• A hand-arm teleoperation system for robotic dexterous manipulation
  crossref Shuang Li, Qiang Li, Jianwei Zhang 2022-04-08T20:27:11Z 置信度 0.70
• Symmetric models for dexterous robotic manipulation
  crossref Colin Kohler 2025-03-05T15:46:51Z 置信度 0.70
• Tactile Sensing, Skill Learning, and Robotic Dexterous Manipulation
  crossref 2022-04-08T20:50:01Z 置信度 0.70
• Key components of dexterous manipulation: tactile sensing, skill learning, and adaptive control
  crossref Qiang Li, Shan Luo, Zhaopeng Chen, Chenguang Yang 等 2022-04-08T20:27:29Z 置信度 0.70
• Planning Dexterous Dual-Arm Manipulation
  crossref Kensuke Harada 2018-06-29T11:01:41Z 置信度 0.70
• Learning to interact for dexterous robotic grasping and manipulation
  crossref Chao Zhao 2025-04-21T23:40:11Z 置信度 0.70
• Sensorimotor control for dexterous grasping – inspiration from human hand
  crossref Ke Li 2022-04-08T20:26:39Z 置信度 0.70
• DM-UAV: Dexterous Manipulation Unmanned Aerial Vehicle
  crossref Alberto Torres, Francisco Candelas, Damian Mira, Fernando Torres 2017-03-09T15:38:14Z 置信度 0.70
• Copyright
  crossref 2022-04-08T20:26:10Z 置信度 0.70
• Learning dexterous manipulation from 3D hand and object interaction
  Apprentissage de la manipulation agile à partir de l'interaction 3D entre la main et l'objet Dans cette thèse, nous approfondissons la compréhension des mouvements des mains en 3D et des interactions mainobjet dans les vidéos monoculaires. Nous montrons commen…
  crossref Zerui Chen 2026-04-09T05:49:44Z 置信度 0.70
• Sensorimotor Learning of Dexterous Manipulation
  crossref Qiushi Fu, Marco Santello 2018-06-29T11:01:21Z 置信度 0.70
• Intrinsic tactile sensing system for robotic dexterous manipulation
  Système de détection tactile intrinsèque basé sur un ensemble de capteurs MEMs à 3 axes et la détection du glissement avec ce système La détection tactile et la détection de glissement jouent un rôle important en permettant la manipulation robotique dextre des…
  crossref Andrés Felipe Ospina Triviño 2026-04-02T22:19:41Z 置信度 0.70
• Dexterous manipulation for manufacturing applications workshop
  crossref Joe Falco, Jeremy Marvel, Elena Messina 2013-09-13T13:37:44Z 置信度 0.70
• An introduction to dexterous manipulation in anthromorphic robotic hands
  crossref Danielle Castley, Paul Yu Oh 2021-07-16T03:13:12Z 置信度 0.70
• Dexterous Manipulation: Making Remote Manipulators Easy to Use
  crossref RAYMOND HARRIGAN, PHIL BENNETT 2007-04-11T21:11:18Z 置信度 0.70
• Dexterous robotic manipulation of deformable thin objects and its application to origami folding
  crossref Chunli Jiang 2023-04-19T02:31:04Z 置信度 0.70
• Learning hierarchical control for robust in-hand manipulation
  crossref Tingguang Li 2022-04-08T20:27:01Z 置信度 0.70
• Towards versatile robotic manipulation : from high-speed picking to dexterous placing
  crossref Ka Hei Mak 2022-11-17T01:22:48Z 置信度 0.70
• Design and control of multi-finger haptic devices for dexterous manipulation
  crossref Ignacio Galiana Bujanda 2022-10-10T08:50:35Z 置信度 0.70
• Reviewer #1 (Public review): Coordinated beak–tongue mechanics enable dexterous seed manipulation in songbirds
  crossref 2026-07-06T15:30:59Z 置信度 0.70
• Contents
  crossref 2022-04-08T20:26:15Z 置信度 0.70
• Robotic grasping via dexterous in-hand manipulation : approaches to effective bin picking
  crossref Tierui He 2022-08-09T02:09:36Z 置信度 0.70
• Exploring Dexterous Manipulation Workspaces with the iHY Hand
  crossref Lael U. Odhner, Raymond R. Ma, Aaron M. Dollar 2014-06-16T14:16:24Z 置信度 0.70
• Object Shape Perception for Autonomous Dexterous Manipulation Based on Multi-Modal Learning Models
  Perception de la forme des objets pour la manipulation dextrose autonome basée sur des modèles d'apprentissage multimodaux Cette thèse propose des méthodes de reconstruction 3D d’objets basées sur des stratégies multimodales d'apprentissage profond. Les applic…
  crossref Mohamed Tahoun 2026-04-07T06:16:33Z 置信度 0.70
• Reviewer #2 (Public review): Coordinated beak–tongue mechanics enable dexterous seed manipulation in songbirds
  crossref 2026-07-06T15:30:59Z 置信度 0.70
• eLife Assessment: Coordinated beak–tongue mechanics enable dexterous seed manipulation in songbirds
  crossref Jesse H Goldberg 2026-07-06T15:30:59Z 置信度 0.70
• Soft Hand with Programmable Grasping Mode for Dexterous Manipulation
  crossref Nanpei Li, Yunyao Pi, Junwei Ding, junfeng li 2024-05-01T13:36:05Z 置信度 0.70
• Dexterous manipulation with general manipulation methodology
  crossref Y. Aiyama, T. Arai 2002-12-24T11:50:07Z 置信度 0.70
• Dexterous Manipulation
  crossref Domenico Prattichizzo, Maria Pozzi, Monica Malvezzi 2020-09-02T21:02:46Z 置信度 0.70
• Dexterous object manipulation based on collision response
  crossref K. Hirota, M. Hirose 2003-12-08T14:31:53Z 置信度 0.70
• A Dexterous, Adaptive, Affordable, Humanlike Robot Hand: Towards Prostheses with Dexterous Manipulation Capabilities
  crossref Jayden Chapman, Anany Dwivedi, Minas Liarokapis 2023-01-05T19:08:26Z 置信度 0.70
• Full envelope dexterous manipulation
  crossref Dominiek Reynaerts 2005-12-11T10:26:43Z 置信度 0.70
• An overview of dexterous manipulation
  Presents an overview of research in dexterous manipulation. We first define robotic dexterous manipulation in comparison to traditional robotics and human manipulation. Next, kinematics, contact types and forces are used to formulate the dexterous manipulation…
  openalex Allison M. Okamura, N. Smaby, Mark R. Cutkosky 2002-11-07 置信度 0.72 GRASPComputer scienceRoboticsKinematicsArtificial intelligence
• Hands for dexterous manipulation and robust grasping: a difficult road toward simplicity
  In this paper, an attempt at summarizing the evolution and the state of the art in the field of robot hands is made. In such exposition, a critical evaluation of what in the author's view are the leading ideas and emerging trends is privileged with respect to …
  openalex Antonio Bicchi 2000-01-01 置信度 0.72 Computer scienceSimplicityOperabilityGRASPRobustness (evolution)
• Learning dexterous in-hand manipulation
  We use reinforcement learning (RL) to learn dexterous in-hand manipulation policies that can perform vision-based object reorientation on a physical Shadow Dexterous Hand. The training is performed in a simulated environment in which we randomize many of the p…
  openalex OpenAI Marcin Andrychowicz, Bowen Baker, Maciek Chociej, Rafał Józefowicz 等 2019-11-18 置信度 0.72 Reinforcement learningObject (grammar)Computer scienceArtificial intelligenceShadow (psychology)
• Sensory Control of Dexterous Manipulation in Humans
  openalex Roland S. Johansson 1996-01-01 置信度 0.72 Sensory systemTask (project management)Object (grammar)Somatosensory systemMotor control
• A Humanoid Two-Arm System for Dexterous Manipulation
  This paper presents a humanoid two-arm system developed as a research platform for studying dexterous two-handed manipulation. The system is based on the modular DLR-Lightweight-Robot-III and the DLR-Hand-II. Two arms and hands are combined with a three degree…
  openalex Christian Ott, Oliver Eiberger, Werner Friedl, Berthold Bäuml 等 2006-12-01 置信度 0.72 Humanoid robotTorsoComputer scienceModular designSoftware
• Optimal control with learned local models: Application to dexterous manipulation
  We describe a method for learning dexterous manipulation skills with a pneumatically-actuated tendon-driven 24-DoF hand. The method combines iteratively refitted time-varying linear models with trajectory optimization, and can be seen as an instance of model-b…
  openalex Vikash Kumar, Emanuel Todorov, Sergey Levine 2016-05-01 置信度 0.72 Reinforcement learningComputer scienceTrajectoryTorqueOptimal control
• Planning for Dexterous Manipulation with Sliding Contacts
  Dexterous manipulation refers to the skillful execution of object reorienting and repositioning maneuvers, especially when performed within the grasp of an articulated mechani cal hand. In this paper we study the problem of gaining a secure and enveloping gras…
  openalex Jeff Trinkle, Richard P. Paul 1990-06-01 置信度 0.72 GRASPObject (grammar)Computer sciencePosition (finance)Computer vision
• Tactile sensing for dexterous in-hand manipulation in robotics—A review
  openalex Hanna Yousef, Mehdi Boukallel, Kaspar Althoefer 2011-03-07 置信度 0.72 RoboticsArtificial intelligenceTactile sensorComputer scienceContext (archaeology)
• Dexterous manipulation with underactuated elastic hands
  In this paper we show that it is possible to design underactuated robot hands capable of performing dexterous manipulation tasks, despite the fact that the motion of an underactuated hand is not fully constrained by its actuators. If a robot has elastic elemen…
  openalex Lael U. Odhner, Aaron M. Dollar 2011-05-01 置信度 0.72 UnderactuationGRASPActuatorObject (grammar)Computer science
• Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 2
  In recent years, a clear trend toward simplification emerged in the development of robotic hands. The use of soft robotic approaches has been a useful tool in this prospective, enabling complexity reduction by embodying part of grasping intelligence in the han…
  openalex Cosimo Della Santina, Cristina Piazza, Giorgio Grioli, Manuel G. Catalano 等 2018-06-06 置信度 0.72 ActuatorMechanism (biology)Robustness (evolution)BiomimeticsVariety (cybernetics)
• Learning dexterous manipulation for a soft robotic hand from human demonstrations
  Dexterous multi-fingered hands can accomplish fine manipulation behaviors that are infeasible with simple robotic grippers. However, sophisticated multi-fingered hands are often expensive and fragile. Low-cost soft hands offer an appealing alternative to more …
  openalex Abhishek Gupta, Clemens Eppner, Sergey Levine, Pieter Abbeel 2016-10-01 置信度 0.72 GrippersComputer scienceReinforcement learningArtificial intelligenceSoft robotics
• Dexterous Manipulation with Deep Reinforcement Learning: Efficient, General, and Low-Cost
  Dexterous multi-fingered robotic hands can perform a wide range of manipulation skills, making them an appealing component for general-purpose robotic manipulators. However, such hands pose a major challenge for autonomous control, due to the high dimensionali…
  openalex Henry Zhu, Abhishek Gupta, Aravind Rajeswaran, Sergey Levine 等 2019-05-01 置信度 0.72 Reinforcement learningComputer scienceArtificial intelligenceTask (project management)Scalability
• Data-efficient Deep Reinforcement Learning for Dexterous Manipulation
  Deep learning and reinforcement learning methods have recently been used to solve a variety of problems in continuous control domains. An obvious application of these techniques is dexterous manipulation tasks in robotics which are difficult to solve using tra…
  openalex Ivaylo Popov, Nicolas Heess, Timothy Lillicrap, Roland Hafner 等 2017-04-10 置信度 0.72 Reinforcement learningGRASPComputer scienceArtificial intelligenceRobotics
• DexMV: Imitation Learning for Dexterous Manipulation from Human Videos
  While significant progress has been made on understanding hand-object interactions in computer vision, it is still very challenging for robots to perform complex dexterous manipulation. In this paper, we propose a new platform and pipeline DexMV (Dexterous Man…
  openalex Yuzhe Qin, Yueh-Hua Wu, Shaowei Liu, Hanwen Jiang 等 2022-01-01 置信度 0.72 Computer scienceImitationArtificial intelligenceRobotPipeline (software)
• Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations
  Dexterous multi-fingered hands are extremely versatile and provide a generic way to perform a multitude of tasks in human-centric environments. However, effectively controlling them remains challenging due to their high dimensionality and large number of poten…
  openalex Aravind Rajeswaran, Vikash Kumar, Abhishek Gupta, Giulia Vezzani 等 2018-06-26 置信度 0.72 Reinforcement learningComputer scienceArtificial intelligenceCurse of dimensionalityRobotics
• <i>RBO Hand 3</i>: A Platform for Soft Dexterous Manipulation
  In this article, we present theRBO Hand 3, a highly capable and versatile anthropomorphic soft hand based on pneumatic actuation. TheRBO Hand 3is designed to enable dexterous manipulation, to facilitate transfer of insights about human dexterity, and to serve …
  openalex Steffen Puhlmann, Jason Harris, Oliver Brock 2022-04-22 置信度 0.72 Computer scienceModular designThumbArtificial intelligenceProgramming language
• Continuous control with deep reinforcement learning
  Abstract: We adapt the ideas underlying the success of Deep Q-Learning to the continuous action domain. We present an actor-critic, model-free algorithm based on the deterministic policy gradient that can operate over continuous action spaces. Using the same l…
  openalex Timothy Lillicrap, Jonathan J. Hunt, Alexander Pritzel, Nicolas Heess 等 2016-07-22 置信度 0.72 Reinforcement learningComputer scienceDomain (mathematical analysis)Artificial intelligenceAction (physics)
• A survey of bio-inspired robotics hands implementation: New directions in dexterous manipulation
  openalex Ebrahim A. Mattar 2013-01-18 置信度 0.72 RoboticsArtificial intelligenceBiomimeticsComputer scienceHuman–computer interaction
• Dexterous manipulation of microparticles using Bessel-function acoustic pressure fields
  We show that Bessel-function acoustic pressure fields can be used to trap and controllably position microparticles. A circular, 16-element ultrasound array generates and manipulates an acoustic field within a chamber, trapping microparticles and agglomerates. …
  openalex C. R. P. Courtney, Bruce W. Drinkwater, Christine Démoré, S. Cochran 等 2013-03-25 置信度 0.72 Bessel functionOptical tweezersTweezersHolographyOptics
• Learning object-level impedance control for robust grasping and dexterous manipulation
  Object-level impedance control is of great importance for object-centric tasks, such as robust grasping and dexterous manipulation. Despite the recent progress on this topic, how to specify the desired object impedance for a given task remains an open issue. I…
  openalex Miao Li, Hang Yin, Kenji Tahara, Aude Billard 2014-05-01 置信度 0.72 Impedance controlElectrical impedanceObject (grammar)Computer scienceComputer vision