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cs.RO2024
Cross-Embodiment Dexterous Grasping with Reinforcement Learning
Haoqi Yuan, Bohan Zhou, Yuhui Fu +1
Dexterous hands exhibit significant potential for complex real-world grasping tasks. While recent studies have primarily focused on learning policies for specific robotic hands, th…
cs.RO2024
Learning Diverse Bimanual Dexterous Manipulation Skills from Human Demonstrations
Bohan Zhou, Haoqi Yuan, Yuhui Fu +1
Bimanual dexterous manipulation is a critical yet underexplored area in robotics. Its high-dimensional action space and inherent task complexity present significant challenges for…
cs.RO2024
Efficient Residual Learning with Mixture-of-Experts for Universal Dexterous Grasping
Ziye Huang, Haoqi Yuan, Yuhui Fu +1
Universal dexterous grasping across diverse objects presents a fundamental yet formidable challenge in robot learning. Existing approaches using reinforcement learning (RL) to deve…