# Real-World Dexterous Object Manipulation based Deep Reinforcement Learning

arXiv: https://arxiv.org/abs/2112.04893 · HTML: https://mlsanity.com/paper/2112.04893/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 8 of its 10 references that are in the map.
- First posted on arXiv 22 Nov 2021.

## Builds on (most cited first, 8 of 8)

- [Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor](https://mlsanity.com/paper/1801.01290/) (2018)
- [Dream to Control: Learning Behaviors by Latent Imagination](https://mlsanity.com/paper/1912.01603/) (2019)
- [Mastering Atari with Discrete World Models](https://mlsanity.com/paper/2010.02193/) (2020)
- [Learning Dexterous In-Hand Manipulation](https://mlsanity.com/paper/1808.00177/) (2018)
- [Sim-to-Real Transfer of Robotic Control with Dynamics Randomization](https://mlsanity.com/paper/1710.06537/) (2017)
- [Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience](https://mlsanity.com/paper/1810.05687/) (2018)
- [Sim-to-Real via Sim-to-Sim: Data-efficient Robotic Grasping via Randomized-to-Canonical Adaptation Networks](https://mlsanity.com/paper/1812.07252/) (2018)
- [TriFinger: An Open-Source Robot for Learning Dexterity](https://mlsanity.com/paper/2008.03596/) (2020)

## Abstract (arXiv)

Deep reinforcement learning has shown its advantages in real-time decision-making based on the state of the agent. In this stage, we solved the task of using a real robot to manipulate the cube to a given trajectory. The task is broken down into different procedures and we propose a hierarchical structure, the high-level deep reinforcement learning model selects appropriate contact positions and the low-level control module performs the position control under the corresponding trajectory. Our framework reduces the disadvantage of low sample efficiency of deep reinforcement learning and lacking adaptability of traditional robot control methods. Our algorithm is trained in simulation and migrated to reality without fine-tuning. The experimental results show the effectiveness of our method both simulation and reality. Our code and video can be found at https://github.com/42jaylonw/RRC2021ThreeWolves and https://youtu.be/Jr176xsn9wg.