[CoRL '23] Dexterous piano playing with deep reinforcement learning.

"Sequential Dexterity: Chaining Dexterous Policies for Long-Horizon Manipulation" code repository

In-Hand Object Rotation via Rapid Motor Adaptation (CoRL 2022), and more

DexMV: Imitation Learning for Dexterous Manipulation from Human Videos, ECCV 2022

This is a repository for GraspXL, which can generate objective-drive grasping motions for 500k+ objects with different dexterous hands.

Code for Visual Dexterity: In-Hand Reorientation of Novel and Complex Object Shapes (Science Robotics)

State-of-the-art method for model-based dexterous manipulation

From One Hand to Multiple Hands: Imitation Learning for Dexterous Manipulation from Single-Camera Teleoperation, RA-L IROS 2022

DexPoint: Generalizable Point Cloud Reinforcement Learning for Sim-to-Real Dexterous Manipulation, CoRL 2022

"Dynamic Handover: Throw and Catch with Bimanual Hands" code repository

We developed a task-driven hybrid model reduction method for solving dexterous manipulation with 5 minutes of online learning.

Code for the paper: "Active Vision Might Be All You Need: Exploring Active Vision in Bimanual Robotic Manipulation"

Learning Continuous Grasping Function with a Dexterous Hand from Human Demonstrations, RA-L 2023 & IROS 2023