mlsanityData to 14 Oct 2026

On the Feasibility of Learning Finger-gaiting In-hand Manipulation with Intrinsic Sensing

arXiv 2109.12720 ↗First posted 26 Sep 2021cs.RO cs.AIcited by 11

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Abstract (arXiv)

Finger-gaiting manipulation is an important skill to achieve large-angle in-hand re-orientation of objects. However, achieving these gaits with arbitrary orientations of the hand is challenging due to the unstable nature of the task. In this work, we use model-free reinforcement learning (RL) to learn finger-gaiting only via precision grasps and demonstrate finger-gaiting for rotation about an axis purely using on-board proprioceptive and tactile feedback. To tackle the inherent instability of precision grasping, we propose the use of initial state distributions that enable effective exploration of the state space. Our method can learn finger-gaiting with significantly improved sample complexity than the state-of-the-art. The policies we obtain are robust and also transfer to novel objects. Videos can be found at https://roamlab.github.io/learnfg/

Key facts. Cited by 11 papers in the map (data through 14 Oct 2026). Builds on 11 of its 28 references that are in the map. First posted on arXiv 26 Sep 2021.

Builds on

11 of 28 references.

References · 11

  1. 2017Proximal Policy Optimization Algorithmscited by 15,215
  2. 2017Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrationscited by 715
  3. 2018Learning Dexterous In-Hand Manipulationcited by 687
  4. 2019Deep Dynamics Models for Learning Dexterous Manipulationcited by 206
  5. 2020State-Only Imitation Learning for Dexterous Manipulationcited by 91
  6. 2018Dexterous Manipulation with Deep Reinforcement Learning: Efficient, General, and Low-Costcited by 84
  7. 2021Model Predictive Actor-Critic: Accelerating Robot Skill Acquisition with Deep Reinforcement Learningcited by 28
  8. 2020Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbscited by 16
  9. 2018Geometric In-Hand Regrasp Planning: Alternating Optimization of Finger Gaits and In-Grasp Manipulationcited by 7
  10. 2019Learning Hierarchical Control for Robust In-Hand Manipulationcited by 6
  11. 2017Real-Time Robust Finger Gaits Planning under Object Shape and Dynamics Uncertaintiescited by 2

Built on by

Cited by year

Citing papers per year: 2022: 2; 2023: 5; 2024: 4.

11 papers.

  1. 2022In-Hand Object Rotation via Rapid Motor Adaptationcited by 118
  2. 2022Visual Dexterity: In-Hand Reorientation of Novel and Complex Object Shapescited by 101
  3. 2023General In-Hand Object Rotation with Vision and Touchcited by 99
  4. 2023Rotating without Seeing: Towards In-hand Dexterity through Touchcited by 84
  5. 2023Robot Synesthesia: In-Hand Manipulation with Visuotactile Sensingcited by 56
  6. 2024AnyRotate: Gravity-Invariant In-Hand Object Rotation with Sim-to-Real Touchcited by 21
  7. 2023ArrayBot: Reinforcement Learning for Generalizable Distributed Manipulation through Touchcited by 11
  8. 2024Vegetable Peeling: A Case Study in Constrained Dexterous Manipulationcited by 9
  9. 2023Dexterous In-hand Manipulation by Guiding Exploration with Simple Sub-skill Controllerscited by 4
  10. 2024R×R: Rapid eXploration for Reinforcement Learning via Sampling-based Reset Distributions and Imitation Pre-trainingcited by 3
  11. 2024On the Feasibility of A Mixed-Method Approach for Solving Long Horizon Task-Oriented Dexterous Manipulationcited by 1