3 papers
cs.RO2025
DextrAH-RGB: Visuomotor Policies to Grasp Anything with Dexterous Hands
Ritvik Singh, Arthur Allshire, Ankur Handa +2
One of the most important, yet challenging, skills for a dexterous robot is grasping a diverse range of objects. Much of the prior work has been limited by speed, generality, or re…
cs.RO2024
DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics
Tyler Ga Wei Lum, Martin Matak, Viktor Makoviychuk +5
A pivotal challenge in robotics is achieving fast, safe, and robust dexterous grasping across a diverse range of objects, an important goal within industrial applications. However,…
cs.RO2024
Geometric Fabrics: a Safe Guiding Medium for Policy Learning
Karl Van Wyk, Ankur Handa, Viktor Makoviychuk +3
Robotics policies are always subjected to complex, second order dynamics that entangle their actions with resulting states. In reinforcement learning (RL) contexts, policies have t…