mlsanityData to 7 Oct 2026

In-Hand Object Rotation via Rapid Motor Adaptation

arXiv 2210.04887 ↗First posted 10 Oct 2022cs.RO cs.AI cs.CVcited by 102

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Abstract (arXiv)

Generalized in-hand manipulation has long been an unsolved challenge of robotics. As a small step towards this grand goal, we demonstrate how to design and learn a simple adaptive controller to achieve in-hand object rotation using only fingertips. The controller is trained entirely in simulation on only cylindrical objects, which then - without any fine-tuning - can be directly deployed to a real robot hand to rotate dozens of objects with diverse sizes, shapes, and weights over the z-axis. This is achieved via rapid online adaptation of the controller to the object properties using only proprioception history. Furthermore, natural and stable finger gaits automatically emerge from training the control policy via reinforcement learning. Code and more videos are available at https://haozhi.io/hora

Key facts. Cited by 102 papers in the map (data through 7 Oct 2026). Builds on 22 of its 45 references that are in the map. First posted on arXiv 10 Oct 2022.

Builds on

22 of 45 references.

References · 22

  1. 2014Adam: A Method for Stochastic Optimizationcited by 36,960
  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. 2015Fast and Accurate Deep Network Learning by Exponential Linear Units (ELUs)cited by 1,061
  5. 2021Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learningcited by 882
  6. 2019Solving Rubik's Cube with a Robot Handcited by 699
  7. 2017Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrationscited by 685
  8. 2018Learning Dexterous In-Hand Manipulationcited by 643
  9. 2020Learning Quadrupedal Locomotion over Challenging Terraincited by 494
  10. 2021RMA: Rapid Motor Adaptation for Legged Robotscited by 430
  11. 2019Deep Dynamics Models for Learning Dexterous Manipulationcited by 200
  12. 2021A System for General In-Hand Object Re-Orientationcited by 155
10 more
  1. 2020State-Only Imitation Learning for Dexterous Manipulationcited by 90
  2. 2021Generalization in Dexterous Manipulation via Geometry-Aware Multi-Task Learningcited by 49
  3. 2021Coupling Vision and Proprioception for Navigation of Legged Robotscited by 46
  4. 2016Learning Dexterous Manipulation for a Soft Robotic Hand from Human Demonstrationcited by 35
  5. 2021Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFingercited by 34
  6. 2016Learning Dexterous Manipulation Policies from Experience and Imitationcited by 32
  7. 2022Complex In-Hand Manipulation via Compliance-Enabled Finger Gaiting and Multi-Modal Planningcited by 21
  8. 2022Learning Purely Tactile In-Hand Manipulation with a Torque-Controlled Handcited by 17
  9. 2018Relaxed-Rigidity Constraints: Kinematic Trajectory Optimization and Collision Avoidance for In-Grasp Manipulationcited by 11
  10. 2021On the Feasibility of Learning Finger-gaiting In-hand Manipulation with Intrinsic Sensingcited by 9

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 1; 2023: 18; 2024: 24; 2025: 37; 2026: 22.

102 papers.

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  1. 2025FAST: Efficient Action Tokenization for Vision-Language-Action Modelscited by 643
  2. 2024Evaluating Real-World Robot Manipulation Policies in Simulationcited by 484
  3. 2024DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulationcited by 149
  4. 2024ShapeLLM: Universal 3D Object Understanding for Embodied Interactioncited by 133
  5. 2022Legged Locomotion in Challenging Terrains using Egocentric Visioncited by 131
  6. 20243D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representationscited by 115
  7. 2025ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skillscited by 104
  8. 2023UniDexGrasp++: Improving Dexterous Grasping Policy Learning via Geometry-aware Curriculum and Iterative Generalist-Specialist Learningcited by 101
  9. 2023General In-Hand Object Rotation with Vision and Touchcited by 87
  10. 2025DexGraspVLA: A Vision-Language-Action Framework Towards General Dexterous Graspingcited by 87
  11. 2023Rotating without Seeing: Towards In-hand Dexterity through Touchcited by 78
  12. 2023LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learningcited by 78
38 more
  1. 2024DrEureka: Language Model Guided Sim-To-Real Transfercited by 78
  2. 2024Learning Visuotactile Skills with Two Multifingered Handscited by 71
  3. 2024SplatSim: Zero-Shot Sim2Real Transfer of RGB Manipulation Policies Using Gaussian Splattingcited by 63
  4. 2023Robot Synesthesia: In-Hand Manipulation with Visuotactile Sensingcited by 51
  5. 2024TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correctioncited by 50
  6. 2023Sequential Dexterity: Chaining Dexterous Policies for Long-Horizon Manipulationcited by 43
  7. 2025Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoidscited by 40
  8. 2024Hand-Object Interaction Pretraining from Videoscited by 38
  9. 2023Dexterous Functional Graspingcited by 36
  10. 2024Twisting Lids Off with Two Handscited by 36
  11. 2023Dynamic Handover: Throw and Catch with Bimanual Handscited by 33
  12. 2024ViViDex: Learning Vision-based Dexterous Manipulation from Human Videoscited by 33
  13. 2025DexMachina: Functional Retargeting for Bimanual Dexterous Manipulationcited by 30
  14. 2023RoboPianist: Dexterous Piano Playing with Deep Reinforcement Learningcited by 29
  15. 2023Neural feels with neural fields: Visuo-tactile perception for in-hand manipulationcited by 28
  16. 2024ASID: Active Exploration for System Identification in Robotic Manipulationcited by 27
  17. 2025Crossing the Human-Robot Embodiment Gap with Sim-to-Real RL using One Human Demonstrationcited by 27
  18. 2025World Models for Learning Dexterous Hand-Object Interactions from Human Videoscited by 26
  19. 2024CyberDemo: Augmenting Simulated Human Demonstration for Real-World Dexterous Manipulationcited by 25
  20. 2023SparseDFF: Sparse-View Feature Distillation for One-Shot Dexterous Manipulationcited by 22
  21. 2024Lessons from Learning to Spin "Pens"cited by 22
  22. 2025Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimizationcited by 20
  23. 2024AnyRotate: Gravity-Invariant In-Hand Object Rotation with Sim-to-Real Touchcited by 18
  24. 2024Privileged Sensing Scaffolds Reinforcement Learningcited by 18
  25. 2025CordViP: Correspondence-based Visuomotor Policy for Dexterous Manipulation in Real-Worldcited by 16
  26. 2025Rapidly Adapting Policies to the Real World via Simulation-Guided Fine-Tuningcited by 15
  27. 2023Rapid Motor Adaptation for Robotic Manipulator Armscited by 13
  28. 2024Learning In-Hand Translation Using Tactile Skin With Shear and Normal Force Sensingcited by 13
  29. 2025Touch begins where vision ends: Generalizable policies for contact-rich manipulationcited by 13
  30. 2024Learning Diverse Bimanual Dexterous Manipulation Skills from Human Demonstrationscited by 12
  31. 2025MAPLE: Encoding Dexterous Robotic Manipulation Priors Learned From Egocentric Videoscited by 12
  32. 2023Learning a Universal Human Prior for Dexterous Manipulation from Human Preferencecited by 10
  33. 2026Dex4D: Task-Agnostic Point Track Policy for Sim-to-Real Dexterous Manipulationcited by 10
  34. 2026SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulationcited by 10
  35. 2025METIS: Multi-Source Egocentric Training for Integrated Dexterous Vision-Language-Action Modelcited by 9
  36. 2025From Simple to Complex Skills: The Case of In-Hand Object Reorientationcited by 8
  37. 2025DexNDM: Closing the Reality Gap for Dexterous In-Hand Rotation via Joint-Wise Neural Dynamics Modelcited by 8
  38. 2023Estimator-Coupled Reinforcement Learning for Robust Purely Tactile In-Hand Manipulationcited by 7

50 most cited of 102 All 102 (JSON)