mlsanityData to 7 Oct 2026

DexCatch: Learning to Catch Arbitrary Objects with Dexterous Hands

arXiv 2310.08809 ↗First posted 13 Oct 2023cs.RO cs.AIcited by 8

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Abstract (arXiv)

Achieving human-like dexterous manipulation remains a crucial area of research in robotics. Current research focuses on improving the success rate of pick-and-place tasks. Compared with pick-and-place, throwing-catching behavior has the potential to increase the speed of transporting objects to their destination. However, dynamic dexterous manipulation poses a major challenge for stable control due to a large number of dynamic contacts. In this paper, we propose a Learning-based framework for Throwing-Catching tasks using dexterous hands (LTC). Our method, LTC, achieves a 73% success rate across 45 scenarios (diverse hand poses and objects), and the learned policies demonstrate strong zero-shot transfer performance on unseen objects. Additionally, in tasks where the object in hand faces sideways, an extremely unstable scenario due to the lack of support from the palm, all baselines fail, while our method still achieves a success rate of over 60%.

Key facts. Cited by 8 papers in the map (data through 7 Oct 2026). Builds on 24 of its 36 references that are in the map. First posted on arXiv 13 Oct 2023.

Builds on

24 of 36 references.

References · 24

  1. 2017Proximal Policy Optimization Algorithmscited by 14,441
  2. 2018Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actorcited by 4,635
  3. 2015Continuous control with deep reinforcement learningcited by 3,279
  4. 2015Trust Region Policy Optimizationcited by 2,503
  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. 2019Learning agile and dynamic motor skills for legged robotscited by 402
  10. 2022DayDreamer: World Models for Physical Robot Learningcited by 372
  11. 2022Learning robust perceptive locomotion for quadrupedal robots in the wildcited by 299
  12. 2021A System for General In-Hand Object Re-Orientationcited by 155
12 more
  1. 2019TossingBot: Learning to Throw Arbitrary Objects with Residual Physicscited by 131
  2. 2015Model Predictive Path Integral Control using Covariance Variable Importance Samplingcited by 122
  3. 2022Towards Human-Level Bimanual Dexterous Manipulation with Reinforcement Learningcited by 113
  4. 2022A Walk in the Park: Learning to Walk in 20 Minutes With Model-Free Reinforcement Learningcited by 76
  5. 2021Generalization in Dexterous Manipulation via Geometry-Aware Multi-Task Learningcited by 49
  6. 2021Stabilizing Neural Control Using Self-Learned Almost Lyapunov Criticscited by 33
  7. 2023Dynamic Handover: Throw and Catch with Bimanual Handscited by 33
  8. 2021Is High Variance Unavoidable in RL? A Case Study in Continuous Controlcited by 26
  9. 2023DexPBT: Scaling up Dexterous Manipulation for Hand-Arm Systems with Population Based Trainingcited by 24
  10. 2020Learning Dexterous Manipulation from Suboptimal Expertscited by 23
  11. 2022Phasic Self-Imitative Reduction for Sparse-Reward Goal-Conditioned Reinforcement Learningcited by 16
  12. 2020Solving Challenging Dexterous Manipulation Tasks With Trajectory Optimisation and Reinforcement Learningcited by 12

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 1; 2025: 4; 2026: 3.

8 papers.

  1. 2025Morphologically Symmetric Reinforcement Learning for Ambidextrous Bimanual Manipulationcited by 3
  2. 2024Bimanual Grasp Synthesis for Dexterous Robot Handscited by 2
  3. 2025Learning Dexterous Bimanual Catch Skills through Adversarial-Cooperative Heterogeneous-Agent Reinforcement Learningcited by 1
  4. 2025VacuumVLA: Boosting VLA Capabilities via a Unified Suction and Gripping Tool for Complex Robotic Manipulationcited by 1
  5. 2025SpikePingpong: Spike Vision-based Fast-Slow Pingpong Robot Systemcited by 0
  6. 2026Nightmare Dreamer: Dreaming About Unsafe States And Planning Aheadcited by 0
  7. 2026SIAgent: Spatial Interaction Agent via LLM-powered Eye-Hand Motion Intent Understanding in VRcited by 0
  8. 2026Tele-Catch: Adaptive Teleoperation for Dexterous Dynamic 3D Object Catchingcited by 0