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20222026
most citedLearning Purely Tactile In-Hand Manipulation with a Torque-Controlled Hand

38 citations · 88 across the 7 of their papers we have counts for

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Showing 2023Show all

2 papers · 1 filter

cs.RO2023★ 13 cited

Estimator-Coupled Reinforcement Learning for Robust Purely Tactile In-Hand Manipulation

Lennart Röstel, Johannes Pitz, Leon Sievers +1

This paper identifies and addresses the problems with naively combining (reinforcement) learning-based controllers and state estimators for robotic in-hand manipulation. Specifical…

cs.RO2023★ 33 cited

Dextrous Tactile In-Hand Manipulation Using a Modular Reinforcement Learning Architecture

Johannes Pitz, Lennart Röstel, Leon Sievers +1

Dextrous in-hand manipulation with a multi-fingered robotic hand is a challenging task, esp. when performed with the hand oriented upside down, demanding permanent force-closure, a…