Thoughts on Dexterous Manipulation Tasks
Published:
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Contact-Rich Tasks
Learning Stability: Reflections on Physical Constraints in Dexterous Manipulation
Published:
Over the past few months, I’ve been exploring how physical constraints—like force closure and contact stability—can be introduced directly into the learning process for in-hand manipulation. While most recent progress in dexterous robotic skills has focused on end-to-end reinforcement learning using vision or tactile images, I found myself wondering: what if we teach policies to care about physical grasp stability?
Dexterous Manipulation
Thoughts on Dexterous Manipulation Tasks
Published:
🖐️ Two Types of Dexterous Manipulation Tasks: Functional Grasping vs. In-Hand Manipulation
Learning Stability: Reflections on Physical Constraints in Dexterous Manipulation
Published:
Over the past few months, I’ve been exploring how physical constraints—like force closure and contact stability—can be introduced directly into the learning process for in-hand manipulation. While most recent progress in dexterous robotic skills has focused on end-to-end reinforcement learning using vision or tactile images, I found myself wondering: what if we teach policies to care about physical grasp stability?
Grasp Stability
Thoughts on Dexterous Manipulation Tasks
Published:
🖐️ Two Types of Dexterous Manipulation Tasks: Functional Grasping vs. In-Hand Manipulation
Learning Stability: Reflections on Physical Constraints in Dexterous Manipulation
Published:
Over the past few months, I’ve been exploring how physical constraints—like force closure and contact stability—can be introduced directly into the learning process for in-hand manipulation. While most recent progress in dexterous robotic skills has focused on end-to-end reinforcement learning using vision or tactile images, I found myself wondering: what if we teach policies to care about physical grasp stability?
Reinforcement Learning
Thoughts on Dexterous Manipulation Tasks
Published:
🖐️ Two Types of Dexterous Manipulation Tasks: Functional Grasping vs. In-Hand Manipulation
Learning Stability: Reflections on Physical Constraints in Dexterous Manipulation
Published:
Over the past few months, I’ve been exploring how physical constraints—like force closure and contact stability—can be introduced directly into the learning process for in-hand manipulation. While most recent progress in dexterous robotic skills has focused on end-to-end reinforcement learning using vision or tactile images, I found myself wondering: what if we teach policies to care about physical grasp stability?