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Learning Purely Tactile In-Hand Manipulation with a Torque-Controlled Hand
2022
arXiv
pre-print
We show that a purely tactile dextrous in-hand manipulation task with continuous regrasping, requiring permanent force closure, can be learned from scratch and executed robustly on a torque-controlled humanoid robotic hand. The task is rotating a cube without dropping it, but in contrast to OpenAI's seminal cube manipulation task, the palm faces downwards and no cameras but only the hand's position and torque sensing are used. Although the task seems simple, it combines for the first time all
arXiv:2204.03698v2
fatcat:3lwmt5vzd5g5pm7t7mwe67qdz4