mlsanityData to 7 Oct 2026

Twisting Lids Off with Two Hands

arXiv 2403.02338 ↗First posted 4 Mar 2024cs.RO cs.AI cs.CVcited by 36

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Abstract (arXiv)

Manipulating objects with two multi-fingered hands has been a long-standing challenge in robotics, due to the contact-rich nature of many manipulation tasks and the complexity inherent in coordinating a high-dimensional bimanual system. In this work, we share novel insights into physical modeling, real-time perception, and reward design that enable policies trained in simulation using deep reinforcement learning (RL) to be effectively and efficiently transferred to the real world. Specifically, we consider the problem of twisting lids of various bottle-like objects with two hands, demonstrating policies with generalization capabilities across a diverse set of unseen objects as well as dynamic and dexterous behaviors. To the best of our knowledge, this is the first sim-to-real RL system that enables such capabilities on bimanual multi-fingered hands.

Key facts. Cited by 36 papers in the map (data through 7 Oct 2026). Builds on 44 of its 65 references that are in the map. First posted on arXiv 4 Mar 2024.

Builds on

44 of 65 references.

References · 44

  1. 2017Proximal Policy Optimization Algorithmscited by 14,441
  2. 2023Segment Anythingcited by 8,158
  3. 2015High-Dimensional Continuous Control Using Generalized Advantage Estimationcited by 1,916
  4. 2023Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardwarecited by 1,490
  5. 2018Exploration by Random Network Distillationcited by 966
  6. 2021Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learningcited by 882
  7. 2019Solving Rubik's Cube with a Robot Handcited by 699
  8. 2022XMem: Long-Term Video Object Segmentation with an Atkinson-Shiffrin Memory Modelcited by 436
  9. 2021RMA: Rapid Motor Adaptation for Legged Robotscited by 430
  10. 2019Learning agile and dynamic motor skills for legged robotscited by 402
  11. 2024Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robotscited by 373
  12. 2022Learning robust perceptive locomotion for quadrupedal robots in the wildcited by 299
32 more
  1. 2017Asymmetric Actor Critic for Image-Based Robot Learningcited by 202
  2. 2021A System for General In-Hand Object Re-Orientationcited by 155
  3. 2022DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Realitycited by 136
  4. 2023AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation Systemcited by 136
  5. 2022Towards Human-Level Bimanual Dexterous Manipulation with Reinforcement Learningcited by 113
  6. 2019DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm Systemcited by 105
  7. 2022In-Hand Object Rotation via Rapid Motor Adaptationcited by 102
  8. 2022Visual Dexterity: In-Hand Reorientation of Novel and Complex Object Shapescited by 92
  9. 2023General In-Hand Object Rotation with Vision and Touchcited by 87
  10. 2022From One Hand to Multiple Hands: Imitation Learning for Dexterous Manipulation from Single-Camera Teleoperationcited by 79
  11. 2023Rotating without Seeing: Towards In-hand Dexterity through Touchcited by 78
  12. 2022Dexterous Imitation Made Easy: A Learning-Based Framework for Efficient Dexterous Manipulationcited by 75
  13. 2023Waypoint-Based Imitation Learning for Robotic Manipulationcited by 59
  14. 2022Holo-Dex: Teaching Dexterity with Immersive Mixed Realitycited by 52
  15. 2023Robot Synesthesia: In-Hand Manipulation with Visuotactile Sensingcited by 51
  16. 2022Factory: Fast Contact for Robotic Assemblycited by 49
  17. 2023AirExo: Low-Cost Exoskeletons for Learning Whole-Arm Manipulation in the Wildcited by 46
  18. 2023Sequential Dexterity: Chaining Dexterous Policies for Long-Horizon Manipulationcited by 43
  19. 2023RoboPianist: Dexterous Piano Playing with Deep Reinforcement Learningcited by 29
  20. 2023Neural feels with neural fields: Visuo-tactile perception for in-hand manipulationcited by 28
  21. 2022A System for Imitation Learning of Contact-Rich Bimanual Manipulation Policiescited by 26
  22. 2023Sampling-based Exploration for Reinforcement Learning of Dexterous Manipulationcited by 20
  23. 2020Bimanual Regrasping for Suture Needles using Reinforcement Learning for Rapid Motion Planningcited by 19
  24. 2023Dextrous Tactile In-Hand Manipulation Using a Modular Reinforcement Learning Architecturecited by 17
  25. 2019Leveraging Multimodal Haptic Sensory Data for Robust Cuttingcited by 15
  26. 2023Bi-Touch: Bimanual Tactile Manipulation with Sim-to-Real Deep Reinforcement Learningcited by 14
  27. 2022Bi-Manual Manipulation and Attachment via Sim-to-Real Reinforcement Learningcited by 13
  28. 2023Estimator-Coupled Reinforcement Learning for Robust Purely Tactile In-Hand Manipulationcited by 7
  29. 2023MIMEx: Intrinsic Rewards from Masked Input Modelingcited by 6
  30. 2023VERN: Vegetation-aware Robot Navigation in Dense Unstructured Outdoor Environmentscited by 5
  31. 2023Constrained Bimanual Planning with Analytic Inverse Kinematicscited by 2
  32. 2023Certifying Bimanual RRT Motion Plans in a Secondcited by 1

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 10; 2025: 17; 2026: 9.

36 papers.

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  1. 2024DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulationcited by 149
  2. 2025DexGraspVLA: A Vision-Language-Action Framework Towards General Dexterous Graspingcited by 87
  3. 2024Learning Visuotactile Skills with Two Multifingered Handscited by 71
  4. 20243D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensingcited by 67
  5. 2025ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learningcited by 56
  6. 2024Generalizable Humanoid Manipulation with 3D Diffusion Policiescited by 49
  7. 2025Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoidscited by 40
  8. 2024Lessons from Learning to Spin "Pens"cited by 22
  9. 2024VoxAct-B: Voxel-Based Acting and Stabilizing Policy for Bimanual Manipulationcited by 21
  10. 2025What Matters for Batch Online Reinforcement Learning in Robotics?cited by 14
  11. 2024Learning In-Hand Translation Using Tactile Skin With Shear and Normal Force Sensingcited by 13
  12. 2024Learning Diverse Bimanual Dexterous Manipulation Skills from Human Demonstrationscited by 12
24 more
  1. 2025VT-Refine: Learning Bimanual Assembly with Visuo-Tactile Feedback via Simulation Fine-Tuningcited by 10
  2. 2026SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulationcited by 10
  3. 2025From Simple to Complex Skills: The Case of In-Hand Object Reorientationcited by 8
  4. 2025Scaffolding Dexterous Manipulation with Vision-Language Modelscited by 7
  5. 2025Emergent Active Perception and Dexterity of Simulated Humanoids from Visual Reinforcement Learningcited by 5
  6. 2024Automated Rewards via LLM-Generated Progress Functionscited by 4
  7. 2025D-CODA: Diffusion for Coordinated Dual-Arm Data Augmentationcited by 4
  8. 2024RP1M: A Large-Scale Motion Dataset for Piano Playing with Bi-Manual Dexterous Robot Handscited by 3
  9. 2025Morphologically Symmetric Reinforcement Learning for Ambidextrous Bimanual Manipulationcited by 3
  10. 2025LodeStar: Long-horizon Dexterity via Synthetic Data Augmentation from Human Demonstrationscited by 3
  11. 2026Blind Dexterous Grasping via Real2Sim2Real Tactile Policy Learningcited by 3
  12. 2025VTAO-BiManip: Masked Visual-Tactile-Action Pre-training with Object Understanding for Bimanual Dexterous Manipulationcited by 2
  13. 2025MaskedManipulator: Versatile Whole-Body Manipulationcited by 2
  14. 2025Lightning Grasp: High Performance Procedural Grasp Synthesis with Contact Fieldscited by 2
  15. 2026HARBOR: A Harness Framework for Agentic Robot Reinforcement Learningcited by 2
  16. 2025ROPA: Synthetic Robot Pose Generation for RGB-D Bimanual Data Augmentationcited by 1
  17. 2025GenDexHand: Generative Simulation for Dexterous Handscited by 1
  18. 2026Generate, Transfer, Adapt: Learning Functional Dexterous Grasping from a Single Human Demonstrationcited by 1
  19. 2026Play2Perfect: What Matters in Dexterous Play Pretraining for Precise Assembly?cited by 1
  20. 2026A Minimalist Retargeting-Guided Reinforcement Learning Recipe for Dexterous Manipulationcited by 1
  21. 2025COMBO-Grasp: Learning Constraint-Based Manipulation for Bimanual Occluded Graspingcited by 0
  22. 2026Beyond Binary: Sim-to-Real Dexterous Manipulation with Physics-Grounded Contact Representationcited by 0
  23. 2026Mana: Dexterous Manipulation of Articulated Toolscited by 0
  24. 2026Directional Constraints for Efficient Exploration in Safe Reinforcement Learningcited by 0