# Dexterous Manipulation

- [Dexterous Manipulation](#dexterous-manipulation)
  - [Hardware](#hardware)
  - [Grasping](#grasping)
  - [Novel Tasks](#novel-tasks)
  - [Tactile](#tactile)
  - [In-Hand Manipulation](#in-hand-manipulation)
  - [Teleoperation](#teleoperation)
  - [Algorithm](#algorithm)


## Hardware
- arXiv 2024.08, **EyeSight Hand**: Design of a Fully-Actuated Dexterous Robot Hand with Integrated Vision-Based Tactile Sensors and Compliant Actuation, [arXiv](https://arxiv.org/abs/2408.06265)
- arXiv 2024.06, **LEAP Hand V2**: Dexterous, Low-cost Anthropomorphic Hybrid Rigid Soft Hand for Robot Learning, [OpenReview](https://openreview.net/forum?id=eQomRzRZEP)
- arXiv 2023.09, **LEAP Hand**: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learning, [website](https://leaphand.com/)
- arXiv 2023.09, **A Wearable Robotic Hand for Hand-over-Hand Imitation Learning**, [website](https://sites.google.com/view/hiro-hand/%E9%A6%96%E9%A1%B5)

## Grasping
- arXiv 2024.12, **DextrAH-RGB**: Visuomotor Policies to Grasp Anything with Dexterous Hands, [arXiv](https://arxiv.org/abs/2412.01791)
- arXiv 2024.11, **FunGrasp**: Functional Grasping for Diverse Dexterous Hands, [website](https://hly-123.github.io/FunGrasp/)
- arXiv 2024.11, **Get a Grip**: Multi-Finger Grasp Evaluation at Scale Enables Robust Sim-to-Real Transfer, [website](https://sites.google.com/view/get-a-grip-dataset)
- arXiv 2024.07, **DextrAH-G**: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics, [website](https://sites.google.com/view/dextrah-g)

## Novel Tasks
- arXiv 2023.12, **Vegetable Peeling**: A Case Study in Constrained Dexterous Manipulation, [Website](https://taochenshh.github.io/projects/veg-peeling)
- arXiv 2023.10, **DexCatch**: Learning to Catch Arbitrary Objects with Dexterous Hands, [arXiv](https://arxiv.org/abs/2310.08809) / [Website](https://dexcatch.github.io/)
- arXiv 2023.09, **Sequential Dexterity**: Chaining Dexterous Policies for Long-Horizon Manipulation, [Website](https://sequential-dexterity.github.io/) / [Github](https://github.com/sequential-dexterity/SeqDex)
- CoRL 2023, **RoboPianist**: Dexterous Piano Playing with Deep Reinforcement Learning, [OpenReview](https://openreview.net/forum?id=HDYMjiukjn) / [Website](https://robopianist.github.io/)
- CoRL 2023, **Dynamic Handover**: Throw and Catch with Bimanual Hands, [OpenReview](https://openreview.net/forum?id=3Z3Z3Z3Z3Z3) / [Website](https://binghao-huang.github.io/dynamic_handover/)
- SIGGRAPH 2022, Learning to use chopsticks in diverse gripping styles, [arXiv](https://arxiv.org/abs/2205.14313) / [Github](https://github.com/chopsticks-research2022/learning2usechopsticks)


## Tactile
- arXiv 2023.12, **Neural feels with neural fields**: Visuo-tactile perception for in-hand manipulation, [Website](https://suddhu.github.io/neural-feels/)
- ICRA 2024 submission, **Robot Synesthesia**: In-Hand Manipulation with Visuotactile Sensing, [Website](https://yingyuan0414.github.io/visuotactile/)
- RSS 2023, Sampling Based Exploration for Reinforcement Learning of Dexterous Manipulation, [Website](https://sbrl.cs.columbia.edu/)
- arXiv 2023.11, **M3L**: The Power of the Senses: Generalizable Manipulation from Vision and Touch through Masked Multimodal Learning, [Website](https://sferrazza.cc/m3l_site/)
- CoRL 2023, General In-Hand Object Rotation with Vision and Touch, [OpenReview](https://openreview.net/pdf?id=RN00jfIV-X)
- ICRA 2023, **TactoFind**: A Tactile Only System for Object Retrieval, [Website](https://taochenshh.github.io/projects/tactofind#)
- arXiv 2023, **Dexterity from Touch**: Self-Supervised Pre-Training of Tactile Representations with Robotic Play, [Website](https://tactile-dexterity.github.io/)
- RSS 2023, **Rotating without Seeing**: Towards In-hand Dexterity through Touch, [Website](https://touchdexterity.github.io/)


## In-Hand Manipulation
- CoRL 2023, General In-Hand Object Rotation with Vision and Touch, [OpenReview](https://openreview.net/pdf?id=RN00jfIV-X)
- arXiv 2023, **Visual Dexterity**: In-hand Dexterous Manipulation from Depth, [Website](https://taochenshh.github.io/projects/visual-dexterity)
- ICRA 2023, **DeXtreme**: Transfer of Agile In-hand Manipulation from Simulation to Reality, [Website](https://dextreme.org/)
- RSS 2023, **Rotating without Seeing**: Towards In-hand Dexterity through Touch, [Website](https://touchdexterity.github.io/)
- CoRL 2022, **HORA**: In-Hand Object Rotation via Rapid Motor Adaptation, [Website](https://haozhi.io/hora/) / [Github](https://github.com/HaozhiQi/hora/)
- CoRL 2021, A System for General In-Hand Object Re-Orientation, [Website](https://taochenshh.github.io/projects/in-hand-reorientation)
- [Website](https://dextreme.org/)

## Teleoperation
- RSS 2022, **Robotic Telekinesis**: Learning a Robotic Hand Imitator by Watching Humans on Youtube. [Website](https://robotic-telekinesis.github.io/)
- ECCV 2022, **DexMV**: Imitation Learning for Dexterous Manipulation from Human Videos, [Website](https://yzqin.github.io/dexmv/)
- ICRA 2020, **DexPilot**: Vision Based Teleoperation of  Dexterous Robotic Hand-Arm System, [Website](https://sites.google.com/view/dex-pilot)


## Algorithm
- arXiv 2023.10, **Eureka**: Human-Level Reward Design via Coding Large Language Models, [Website](https://eureka-research.github.io/) / [Github](https://github.com/eureka-research/Eureka)
- arXiv 2023.04, Learning a Universal Human Prior for Dexterous Manipulation from Human Preference, [arXiv](https://arxiv.org/abs/2304.04602)
- NIPS 2023, **GraspGF**: Learning Score-based Grasping Primitive for Human-assisting Dexterous Grasping, [arXiv](https://arxiv.org/abs/2309.06038) / [Website](https://sites.google.com/view/graspgf)
- CoRL 2023 oral, **Diff-LfD**: Contact-aware Model-based Learning from Visual Demonstration for Robotic Manipulation via Differentiable Physics-based Simulation and Rendering, [Website](https://sites.google.com/view/diff-lfd)
- CoRL 2023 oral, **KODex**: On the Utility of Koopman Operator Theory in Learning Dexterous Manipulation Skills, [arXiv](https://arxiv.org/abs/2303.13446) / [Website](https://sites.google.com/view/kodex-corl)
- CoRL 2023, **DEFT**: Dexterous Fine-Tuning for Real-World Hand Policies, [OpenReview](https://openreview.net/forum?id=wH23nZpVTF6) / [Website](https://dexterous-finetuning.github.io/)
- CoRL 2023, Dexterous Functional Grasping, [OpenReview](https://openreview.net/forum?id=93qz1k6_6h) / [Website](https://dexfunc.github.io/)
- CoRL 2023, **REBOOT**: Reuse Data for Bootstrapping Efficient Real-World Dexterous Manipulation, [OpenReview](https://openreview.net/forum?id=ckeT8cMz_A) / [Website](https://sites.google.com/view/reboot-dexterous)
- RA-L 2023, Learning Continuous Grasping Function with a Dexterous Hand from Human Demonstrations, [Website](https://arxiv.org/abs/2207.05053)
- CoRL 2022, **VideoDex**: Learning Dexterity from Internet Videos, [Website](https://video-dex.github.io/)
- CoRL 2022, **DexPoint**: Generalizable Point Cloud Reinforcement Learning for Sim-to-Real Dexterous Manipulation, [Website](https://yzqin.github.io/dexpoint/) / [Github](https://github.com/yzqin/dexpoint-release)
- arXiv 2022, **DIME**: Dexterous Imitation Made Easy: A Learning-Based Framework for Efficient Dexterous Manipulation, [Website](https://nyu-robot-learning.github.io/dime/) / [Code](https://github.com/NYU-robot-learning/DIME-Models)
- CoRL 2021, **DexVIP**: Learning Dexterous Grasping with Human Hand Pose Priors from Video, [Website](https://vision.cs.utexas.edu/projects/dexvip-dexterous-grasp-pose-prior/)
- ICML 2021, **SCDM**: Solving Complex Dexterous Manipulation Tasks With Trajectory Optimisation and Reinforcement Learning, [Website](https://dexterous-manipulation.github.io/)
- IROS 2020, **DexRes**: Physics-Based Dexterous Manipulations with Estimated Hand Poses and Residual Reinforcement Learning, [arXiv](https://arxiv.org/abs/2008.03285) / [Website](https://sites.google.com/view/dexres/)
- CoRL 2020, **PDDM**: Deep Dynamics Models for Learning Dexterous Manipulation, [Website](https://sites.google.com/view/pddm/) / [Code](https://github.com/google-research/pddm)
- RSS 2018, **DAPG**: Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations, [Website](https://sites.google.com/view/deeprl-dexterous-manipulation) / [Code](https://github.com/aravindr93/hand_dapg)