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cs.RO2026
CARD: Contact-Anchored Retargeting for Dexterous Manipulation
Cunxi Dai, Botao He, Francois R Hogan +7
Humans are dexterous, but traditional data collection paradigms such as teleoperation, kinesthetic teaching, and wearable exoskeletons force humans to act through the robot embodim…
cs.RO2025
Learning Dexterous Manipulation Skills from Imperfect Simulations
Elvis Hsieh, Wen-Han Hsieh, Yen-Jen Wang +4
Reinforcement learning and sim-to-real transfer have made significant progress in dexterous manipulation. However, progress remains limited by the difficulty of simulating complex…
cs.RO2024
Optimizing TD3 for 7-DOF Robotic Arm Grasping: Overcoming Suboptimality with Exploration-Enhanced Contrastive Learning
Wen-Han Hsieh, Jen-Yuan Chang
In actor-critic-based reinforcement learning algorithms such as Twin Delayed Deep Deterministic policy gradient (TD3), insufficient exploration of the spatial space can result in s…