3 papers
cs.RO2025
Composing Dextrous Grasping and In-hand Manipulation via Scoring with a Reinforcement Learning Critic
Lennart Röstel, Dominik Winkelbauer, Johannes Pitz +2
In-hand manipulation and grasping are fundamental yet often separately addressed tasks in robotics. For deriving in-hand manipulation policies, reinforcement learning has recently…
cs.RO2024
Learning Time-Optimal and Speed-Adjustable Tactile In-Hand Manipulation
Johannes Pitz, Lennart Röstel, Leon Sievers +1
In-hand manipulation with multi-fingered hands is a challenging problem that recently became feasible with the advent of deep reinforcement learning methods. While most contributio…
cs.RO2024
Learning a Shape-Conditioned Agent for Purely Tactile In-Hand Manipulation of Various Objects
Johannes Pitz, Lennart Röstel, Leon Sievers +2
Reorienting diverse objects with a multi-fingered hand is a challenging task. Current methods in robotic in-hand manipulation are either object-specific or require permanent superv…