Thoughts on Dexterous Manipulation Tasks
Published:
Posts by Tags
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?
Humanoid
Humanoid Retargeting
Published:
Intro
The large boost of humanoid robots this year largely thanks to the learning-based motion control and learning from human motion datasets. All the dancing, KongFu and athletic movements are based on this kind of retargeting from human datasets -> IL(Imitation Learning) based RL(Reinforcement Learning). After trying different retargeting and learning method and seeing different humanoid doing cool movements on stage, I think it is good for me to summarize it. This blog try to to do such thing.
Motion Control
Humanoid Retargeting
Published:
Intro
The large boost of humanoid robots this year largely thanks to the learning-based motion control and learning from human motion datasets. All the dancing, KongFu and athletic movements are based on this kind of retargeting from human datasets -> IL(Imitation Learning) based RL(Reinforcement Learning). After trying different retargeting and learning method and seeing different humanoid doing cool movements on stage, I think it is good for me to summarize it. This blog try to to do such thing.
Reinforcement Learning
Humanoid Retargeting
Published:
Intro
The large boost of humanoid robots this year largely thanks to the learning-based motion control and learning from human motion datasets. All the dancing, KongFu and athletic movements are based on this kind of retargeting from human datasets -> IL(Imitation Learning) based RL(Reinforcement Learning). After trying different retargeting and learning method and seeing different humanoid doing cool movements on stage, I think it is good for me to summarize it. This blog try to to do such thing.
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?
Retargeting
Humanoid Retargeting
Published:
Intro
The large boost of humanoid robots this year largely thanks to the learning-based motion control and learning from human motion datasets. All the dancing, KongFu and athletic movements are based on this kind of retargeting from human datasets -> IL(Imitation Learning) based RL(Reinforcement Learning). After trying different retargeting and learning method and seeing different humanoid doing cool movements on stage, I think it is good for me to summarize it. This blog try to to do such thing.