mlsanityData to 7 Oct 2026

Vegetable Peeling: A Case Study in Constrained Dexterous Manipulation

arXiv 2407.07884 ↗First posted 10 Jul 2024cs.RO cs.AI cs.LGcited by 7

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Abstract (arXiv)

Recent studies have made significant progress in addressing dexterous manipulation problems, particularly in in-hand object reorientation. However, there are few existing works that explore the potential utilization of developed dexterous manipulation controllers for downstream tasks. In this study, we focus on constrained dexterous manipulation for food peeling. Food peeling presents various constraints on the reorientation controller, such as the requirement for the hand to securely hold the object after reorientation for peeling. We propose a simple system for learning a reorientation controller that facilitates the subsequent peeling task. Videos are available at: https://taochenshh.github.io/projects/veg-peeling.

Key facts. Cited by 7 papers in the map (data through 7 Oct 2026). Builds on 32 of its 53 references that are in the map. First posted on arXiv 10 Jul 2024.

Builds on

32 of 53 references.

References · 32

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20 more
  1. 2017Asymmetric Actor Critic for Image-Based Robot Learningcited by 202
  2. 2019Deep Dynamics Models for Learning Dexterous Manipulationcited by 200
  3. 2021A System for General In-Hand Object Re-Orientationcited by 155
  4. 2022DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Realitycited by 136
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  14. 2020Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotioncited by 22
  15. 2022Complex In-Hand Manipulation via Compliance-Enabled Finger Gaiting and Multi-Modal Planningcited by 21
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Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 1; 2025: 4; 2026: 2.

7 papers.

  1. 2025ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learningcited by 56
  2. 2024FLIP: Flow-Centric Generative Planning as General-Purpose Manipulation World Modelcited by 41
  3. 2026SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulationcited by 10
  4. 2025VLMgineer: Vision Language Models as Robotic Toolsmithscited by 9
  5. 2025Morphologically Symmetric Reinforcement Learning for Ambidextrous Bimanual Manipulationcited by 3
  6. 2025Mash, Spread, Slice! Learning to Manipulate Object States via Visual Spatial Progresscited by 2
  7. 2026How to Peel with a Knife: Aligning Fine-Grained Manipulation with Human Preferencecited by 1