mlsanityData to 7 Oct 2026

A System for General In-Hand Object Re-Orientation

arXiv 2111.03043 ↗First posted 4 Nov 2021cs.RO cs.AI cs.LGcited by 155

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Abstract (arXiv)

In-hand object reorientation has been a challenging problem in robotics due to high dimensional actuation space and the frequent change in contact state between the fingers and the objects. We present a simple model-free framework that can learn to reorient objects with both the hand facing upwards and downwards. We demonstrate the capability of reorienting over 2000 geometrically different objects in both cases. The learned policies show strong zero-shot transfer performance on new objects. We provide evidence that these policies are amenable to real-world operation by distilling them to use observations easily available in the real world. The videos of the learned policies are available at: https://taochenshh.github.io/projects/in-hand-reorientation.

Key facts. Cited by 155 papers in the map (data through 7 Oct 2026). Builds on 25 of its 46 references that are in the map. First posted on arXiv 4 Nov 2021.

Builds on

25 of 46 references.

References · 25

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  2. 2017Proximal Policy Optimization Algorithmscited by 14,441
  3. 2017Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real Worldcited by 1,401
  4. 20194D Spatio-Temporal ConvNets: Minkowski Convolutional Neural Networkscited by 1,201
  5. 2015Fast and Accurate Deep Network Learning by Exponential Linear Units (ELUs)cited by 1,061
  6. 2016A Point Set Generation Network for 3D Object Reconstruction from a Single Imagecited by 972
  7. 2021Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learningcited by 882
  8. 2018IMPALA: Scalable Distributed Deep-RL with Importance Weighted Actor-Learner Architecturescited by 866
  9. 2019Solving Rubik's Cube with a Robot Handcited by 699
  10. 2017Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrationscited by 685
  11. 2018Learning Dexterous In-Hand Manipulationcited by 643
  12. 2020Learning Quadrupedal Locomotion over Challenging Terraincited by 494
13 more
  1. 2019Learning by Cheatingcited by 361
  2. 2018Horovod: fast and easy distributed deep learning in TensorFlowcited by 275
  3. 2017Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metricscited by 259
  4. 20196-DOF GraspNet: Variational Grasp Generation for Object Manipulationcited by 237
  5. 2019Deep Dynamics Models for Learning Dexterous Manipulationcited by 200
  6. 2020State-Only Imitation Learning for Dexterous Manipulationcited by 90
  7. 2018Dexterous Manipulation with Deep Reinforcement Learning: Efficient, General, and Low-Costcited by 79
  8. 2020EGAD! an Evolved Grasping Analysis Dataset for diversity and reproducibility in robotic manipulationcited by 61
  9. 2016Learning Dexterous Manipulation for a Soft Robotic Hand from Human Demonstrationcited by 35
  10. 2016Learning Dexterous Manipulation Policies from Experience and Imitationcited by 32
  11. 2020Learning Dexterous Manipulation from Suboptimal Expertscited by 23
  12. 2018Relaxed-Rigidity Constraints: Kinematic Trajectory Optimization and Collision Avoidance for In-Grasp Manipulationcited by 11
  13. 2018In-Hand Manipulation via Motion Conescited by 9

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 1; 2022: 32; 2023: 49; 2024: 35; 2025: 20; 2026: 18.

155 papers.

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  1. 2024Diffusion Policy Policy Optimizationcited by 255
  2. 2022Masked Visual Pre-training for Motor Controlcited by 246
  3. 2023RVT: Robotic View Transformer for 3D Object Manipulationcited by 224
  4. 2023RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulationcited by 206
  5. 2023Multimodal Web Navigation with Instruction-Finetuned Foundation Modelscited by 159
  6. 2024DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulationcited by 149
  7. 2021GOAL: Generating 4D Whole-Body Motion for Hand-Object Graspingcited by 142
  8. 2022DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Realitycited by 136
  9. 2024Reconciling Reality through Simulation: A Real-to-Sim-to-Real Approach for Robust Manipulationcited by 135
  10. 2022Rapid Locomotion via Reinforcement Learningcited by 130
  11. 2023UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policycited by 117
  12. 20243D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representationscited by 115
38 more
  1. 2022Towards Human-Level Bimanual Dexterous Manipulation with Reinforcement Learningcited by 113
  2. 2022In-Hand Object Rotation via Rapid Motor Adaptationcited by 102
  3. 2023UniDexGrasp++: Improving Dexterous Grasping Policy Learning via Geometry-aware Curriculum and Iterative Generalist-Specialist Learningcited by 101
  4. 2023Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysiscited by 99
  5. 2022Accelerated Policy Learning with Parallel Differentiable Simulationcited by 92
  6. 2022Visual Dexterity: In-Hand Reorientation of Novel and Complex Object Shapescited by 92
  7. 2023General In-Hand Object Rotation with Vision and Touchcited by 87
  8. 2025DexGraspVLA: A Vision-Language-Action Framework Towards General Dexterous Graspingcited by 87
  9. 2025Flow Matching Policy Gradientscited by 86
  10. 2022MyoSuite -- A contact-rich simulation suite for musculoskeletal motor controlcited by 80
  11. 2022DexPoint: Generalizable Point Cloud Reinforcement Learning for Sim-to-Real Dexterous Manipulationcited by 78
  12. 2023Rotating without Seeing: Towards In-hand Dexterity through Touchcited by 78
  13. 2023LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learningcited by 78
  14. 2022Dexterous Imitation Made Easy: A Learning-Based Framework for Efficient Dexterous Manipulationcited by 75
  15. 2023DexArt: Benchmarking Generalizable Dexterous Manipulation with Articulated Objectscited by 64
  16. 2023Gen2Sim: Scaling up Robot Learning in Simulation with Generative Modelscited by 62
  17. 2023Dexterity from Touch: Self-Supervised Pre-Training of Tactile Representations with Robotic Playcited by 60
  18. 2025ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learningcited by 56
  19. 2022Holo-Dex: Teaching Dexterity with Immersive Mixed Realitycited by 52
  20. 2023Robot Synesthesia: In-Hand Manipulation with Visuotactile Sensingcited by 51
  21. 2024TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correctioncited by 50
  22. 2022Factory: Fast Contact for Robotic Assemblycited by 49
  23. 2022Learning Generalizable Dexterous Manipulation from Human Grasp Affordancecited by 46
  24. 2023Sequential Dexterity: Chaining Dexterous Policies for Long-Horizon Manipulationcited by 43
  25. 2025Residual Off-Policy RL for Finetuning Behavior Cloning Policiescited by 42
  26. 2023PartManip: Learning Cross-Category Generalizable Part Manipulation Policy from Point Cloud Observationscited by 40
  27. 2023Neural Volumetric Memory for Visual Locomotion Controlcited by 40
  28. 2025Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoidscited by 40
  29. 2024EfficientZero V2: Mastering Discrete and Continuous Control with Limited Datacited by 39
  30. 2022Learning to Drive by Watching YouTube Videos: Action-Conditioned Contrastive Policy Pretrainingcited by 37
  31. 2023FluidLab: A Differentiable Environment for Benchmarking Complex Fluid Manipulationcited by 37
  32. 2024Twisting Lids Off with Two Handscited by 36
  33. 2022Learning Continuous Grasping Function with a Dexterous Hand from Human Demonstrationscited by 34
  34. 2023Learning Human-to-Robot Handovers from Point Cloudscited by 34
  35. 2024A Survey of Embodied Learning for Object-Centric Robotic Manipulationcited by 34
  36. 2023DribbleBot: Dynamic Legged Manipulation in the Wildcited by 33
  37. 2023Dynamic Handover: Throw and Catch with Bimanual Handscited by 33
  38. 2024ViViDex: Learning Vision-based Dexterous Manipulation from Human Videoscited by 33

50 most cited of 155 All 155 (JSON)