Cover Image

End-to-end RL Improves Dexterous Grasping Policies

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Singh, Ritvik, Van Wyk, Karl, Abbeel, Pieter, Malik, Jitendra, Ratliff, Nathan, Handa, Ankur
Format:	Preprint
Published:	2025
Subjects:	Robotics Machine Learning
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

DextrAH-RGB: Visuomotor Policies to Grasp Anything with Dexterous Hands
by: Singh, Ritvik, et al.
Published: (2024)

DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics
by: Lum, Tyler Ga Wei, et al.
Published: (2024)

Geometric Fabrics: a Safe Guiding Medium for Policy Learning
by: Van Wyk, Karl, et al.
Published: (2024)

Residual Off-Policy RL for Finetuning Behavior Cloning Policies
by: Ankile, Lars, et al.
Published: (2025)

Synthetica: Large Scale Synthetic Data for Robot Perception
by: Singh, Ritvik, et al.
Published: (2024)

DexterityGen: Foundation Controller for Unprecedented Dexterity
by: Yin, Zhao-Heng, et al.
Published: (2025)

DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality
by: Handa, Ankur, et al.
Published: (2022)

ViTacFormer: Learning Cross-Modal Representation for Visuo-Tactile Dexterous Manipulation
by: Heng, Liang, et al.
Published: (2025)

Dexterous Manipulation Based on Prior Dexterous Grasp Pose Knowledge
by: Yan, Hengxu, et al.
Published: (2024)

Beyond Binary: Sim-to-Real Dexterous Manipulation with Physics-Grounded Contact Representation
by: Pan, Jiahe, et al.
Published: (2026)

SkillBlender: Towards Versatile Humanoid Whole-Body Loco-Manipulation via Skill Blending
by: Kuang, Yuxuan, et al.
Published: (2025)

Twisting Lids Off with Two Hands
by: Lin, Toru, et al.
Published: (2024)

Grasping a Handful: Sequential Multi-Object Dexterous Grasp Generation
by: Lu, Haofei, et al.
Published: (2025)

DreamSmooth: Improving Model-based Reinforcement Learning via Reward Smoothing
by: Lee, Vint, et al.
Published: (2023)

DDGC: Generative Deep Dexterous Grasping in Clutter
by: Lundell, Jens, et al.
Published: (2021)

Cross-Embodiment Dexterous Grasping with Reinforcement Learning
by: Yuan, Haoqi, et al.
Published: (2024)

How to Peel with a Knife: Aligning Fine-Grained Manipulation with Human Preference
by: Lin, Toru, et al.
Published: (2026)

MaxInfoRL: Boosting exploration in reinforcement learning through information gain maximization
by: Sukhija, Bhavya, et al.
Published: (2024)

Coarse-to-fine Q-Network with Action Sequence for Data-Efficient Reinforcement Learning
by: Seo, Younggyo, et al.
Published: (2024)

DexDiffuser: Generating Dexterous Grasps with Diffusion Models
by: Weng, Zehang, et al.
Published: (2024)

Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFinger
by: Allshire, Arthur, et al.
Published: (2021)

Efficient Residual Learning with Mixture-of-Experts for Universal Dexterous Grasping
by: Huang, Ziye, et al.
Published: (2024)

23 DoF Grasping Policies from a Raw Point Cloud
by: Matak, Martin, et al.
Published: (2024)

Deep Sensorimotor Control by Imitating Predictive Models of Human Motion
by: Singh, Himanshu Gaurav, et al.
Published: (2025)

Offline Imitation Learning Through Graph Search and Retrieval
by: Yin, Zhao-Heng, et al.
Published: (2024)

Body Transformer: Leveraging Robot Embodiment for Policy Learning
by: Sferrazza, Carmelo, et al.
Published: (2024)

AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System
by: Qin, Yuzhe, et al.
Published: (2023)

Learning Adaptive Dexterous Grasping from Single Demonstrations
by: Shi, Liangzhi, et al.
Published: (2025)

Grasp2Grasp: Vision-Based Dexterous Grasp Translation via Schrödinger Bridges
by: Zhong, Tao, et al.
Published: (2025)

OmniDexVLG: Learning Dexterous Grasp Generation from Vision Language Model-Guided Grasp Semantics, Taxonomy and Functional Affordance
by: Zhang, Lei, et al.
Published: (2025)

D-REX: Differentiable Real-to-Sim-to-Real Engine for Learning Dexterous Grasping
by: Lou, Haozhe, et al.
Published: (2026)

GR-RL: Going Dexterous and Precise for Long-Horizon Robotic Manipulation
by: Li, Yunfei, et al.
Published: (2025)

GAGrasp: Geometric Algebra Diffusion for Dexterous Grasping
by: Zhong, Tao, et al.
Published: (2025)

Video2Policy: Scaling up Manipulation Tasks in Simulation through Internet Videos
by: Ye, Weirui, et al.
Published: (2025)

ArtiGrasp: Physically Plausible Synthesis of Bi-Manual Dexterous Grasping and Articulation
by: Zhang, Hui, et al.
Published: (2023)

One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Locomotion
by: Bohlinger, Nico, et al.
Published: (2024)

Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoids
by: Lin, Toru, et al.
Published: (2025)

Variational Neural Belief Parameterizations for Robust Dexterous Grasping under Multimodal Uncertainty
by: Enwerem, Clinton, et al.
Published: (2026)

DexGarmentLab: Dexterous Garment Manipulation Environment with Generalizable Policy
by: Wang, Yuran, et al.
Published: (2025)

Learning Humanoid Locomotion over Challenging Terrain
by: Radosavovic, Ilija, et al.
Published: (2024)