{"id":"https://openalex.org/W4323650488","doi":"https://doi.org/10.48550/arxiv.2303.03533","title":"Dexterous In-hand Manipulation by Guiding Exploration with Simple Sub-skill Controllers","display_name":"Dexterous In-hand Manipulation by Guiding Exploration with Simple Sub-skill Controllers","publication_year":2023,"publication_date":"2023-03-06","ids":{"openalex":"https://openalex.org/W4323650488","doi":"https://doi.org/10.48550/arxiv.2303.03533"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2303.03533","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2303.03533","pdf_url":"https://arxiv.org/pdf/2303.03533","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2303.03533","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5064303790","display_name":"Gagan Khandate","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Khandate, Gagan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058527160","display_name":"Cameron Mehlman","orcid":"https://orcid.org/0000-0003-2385-3631"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mehlman, Cameron","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113904470","display_name":"Xingsheng Wei","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wei, Xingsheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5087490971","display_name":"Matei Ciocarlie","orcid":"https://orcid.org/0000-0002-8317-4465"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ciocarlie, Matei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9861999750137329,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9861999750137329,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9825000166893005,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9814000129699707,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6920321583747864},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.676559567451477},{"id":"https://openalex.org/keywords/scratch","display_name":"Scratch","score":0.5653083324432373},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.555198073387146},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.5524260401725769},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.5424045920372009},{"id":"https://openalex.org/keywords/reset","display_name":"Reset (finance)","score":0.5263717770576477},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.42922937870025635},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4271799325942993},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.398434579372406},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09659463167190552}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6920321583747864},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.676559567451477},{"id":"https://openalex.org/C2781235140","wikidata":"https://www.wikidata.org/wiki/Q275131","display_name":"Scratch","level":2,"score":0.5653083324432373},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.555198073387146},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.5524260401725769},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5424045920372009},{"id":"https://openalex.org/C2779795794","wikidata":"https://www.wikidata.org/wiki/Q7315343","display_name":"Reset (finance)","level":2,"score":0.5263717770576477},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.42922937870025635},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4271799325942993},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.398434579372406},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09659463167190552},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C106159729","wikidata":"https://www.wikidata.org/wiki/Q2294553","display_name":"Financial economics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2303.03533","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2303.03533","pdf_url":"https://arxiv.org/pdf/2303.03533","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"doi:10.48550/arxiv.2303.03533","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2303.03533","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2303.03533","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2303.03533","pdf_url":"https://arxiv.org/pdf/2303.03533","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2783609121","display_name":null,"funder_award_id":"2037101","funder_id":"https://openalex.org/F4320337391","funder_display_name":"Division of Civil, Mechanical and Manufacturing Innovation"},{"id":"https://openalex.org/G3947485538","display_name":null,"funder_award_id":"CMMI-2037101","funder_id":"https://openalex.org/F4320337391","funder_display_name":"Division of Civil, Mechanical and Manufacturing Innovation"},{"id":"https://openalex.org/G6081519054","display_name":"FMRG: Adaptable and Scalable Robot Teleoperation for Human-in-the-Loop Assembly","funder_award_id":"2037101","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6852655174","display_name":null,"funder_award_id":"CMMI-2037101","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6869550181","display_name":null,"funder_award_id":"N00014-21-1-4010","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G8876996369","display_name":null,"funder_award_id":"N00014","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"},{"id":"https://openalex.org/F4320337391","display_name":"Division of Civil, Mechanical and Manufacturing Innovation","ror":"https://ror.org/028yd4c30"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4323650488.pdf","grobid_xml":"https://content.openalex.org/works/W4323650488.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2475116013","https://openalex.org/W2770018148","https://openalex.org/W2358308169","https://openalex.org/W350273603","https://openalex.org/W2385135707","https://openalex.org/W2140315382","https://openalex.org/W2059109728","https://openalex.org/W322691623","https://openalex.org/W2494989134","https://openalex.org/W2393495588"],"abstract_inverted_index":{"Recently,":[0],"reinforcement":[1],"learning":[2,13,51,97],"has":[3],"led":[4],"to":[5,45,95],"dexterous":[6,52],"manipulation":[7,54,101],"skills":[8,15,28,55,102],"of":[9,36,50,106],"increasing":[10],"complexity.":[11],"Nonetheless,":[12],"these":[14,27,89],"in":[16],"simulation":[17],"still":[18],"exhibits":[19],"poor":[20],"sample-efficiency":[21],"which":[22],"stems":[23],"from":[24,31,88],"the":[25,34,47,93,104],"fact":[26],"are":[29,92],"learned":[30],"scratch":[32],"without":[33,103],"benefit":[35],"any":[37],"domain":[38,60],"expertise.":[39],"In":[40],"this":[41,63],"work,":[42],"we":[43,65],"aim":[44],"improve":[46],"sample":[48,73],"efficiency":[49,74],"in-hand":[53,100],"using":[56,75],"controllers":[57,69],"available":[58],"via":[59],"knowledge.":[61],"To":[62],"end,":[64],"design":[66],"simple":[67],"sub-skill":[68],"and":[70],"demonstrate":[71,96],"improved":[72],"a":[76],"framework":[77],"that":[78],"guides":[79],"exploration":[80],"toward":[81],"relevant":[82],"state":[83],"space":[84],"by":[85],"following":[86],"actions":[87],"controllers.":[90],"We":[91],"first":[94],"hard-to-explore":[98],"finger-gaiting":[99],"use":[105],"an":[107],"exploratory":[108],"reset":[109],"distribution.":[110],"Video":[111],"results":[112],"can":[113],"be":[114],"found":[115],"at":[116],"https://roamlab.github.io/vge":[117]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2023-03-10T00:00:00"}