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Learning ambidextrous robot grasping policies

https://doi.org/10.1126/scirobotics.aau4984

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What this work says

Outgoing claims: the papers this work cites, builds on, or argues with.

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Fast Sequential Monte Carlo Methods for Counting and Optimization

inferredcites →https://doi.org/10.1007/978-3-540-30301-5_29openalex-snapshot

Grasping

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An autonomous manipulation system based on force control and optimization

inferredcites →https://doi.org/10.1016/s0004-3702(98)00023-xopenalex-snapshot

Planning and acting in partially observable stochastic domains

inferredcites →https://doi.org/10.1016/s1474-6670(17)38315-5openalex-snapshot

Reinforcement Learning

inferredcites →https://doi.org/10.1017/cbo9780511811685openalex-snapshot

Multiple View Geometry in Computer Vision

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Overcoming catastrophic forgetting in neural networks

inferredcites →https://doi.org/10.1109/70.795790openalex-snapshot

Part pose statistics: estimators and experiments

inferredcites →https://doi.org/10.1109/coase.2018.8560406openalex-snapshot

Linear Push Policies to Increase Grasp Access for Robot Bin Picking

inferredcites →https://doi.org/10.1109/iccv.2015.123openalex-snapshot

Delving Deep into Rectifiers: Surpassing Human-Level Performance on ImageNet Classification

inferredcites →https://doi.org/10.1109/icra.2011.5980567openalex-snapshot

3D is here: Point Cloud Library (PCL)

inferredcites →https://doi.org/10.1109/icra.2012.6224697openalex-snapshot

Pose error robust grasping from contact wrench space metrics

inferredcites →https://doi.org/10.1109/icra.2013.6631180openalex-snapshot

Cloud-based robot grasping with the google object recognition engine

inferredcites →https://doi.org/10.1109/icra.2015.7139793openalex-snapshot

Leveraging big data for grasp planning

inferredcites →https://doi.org/10.1109/icra.2016.7487342openalex-snapshot

Dex-Net 1.0: A cloud-based network of 3D objects for robust grasp planning using a Multi-Armed Bandit model with correlated rewards

inferredcites →https://doi.org/10.1109/icra.2016.7487517openalex-snapshot

Supersizing self-supervision: Learning to grasp from 50K tries and 700 robot hours

inferredcites →https://doi.org/10.1109/icra.2017.7989189openalex-snapshot

Grasp quality evaluation done right: How assumed contact force bounds affect Wrench-based quality metrics

inferredcites →https://doi.org/10.1109/icra.2017.7989330openalex-snapshot

Design of parallel-jaw gripper tip surfaces for robust grasping

inferredcites →https://doi.org/10.1109/icra.2018.8460528openalex-snapshot

Sim-to-Real Transfer of Robotic Control with Dynamics Randomization

inferredcites →https://doi.org/10.1109/icra.2018.8460875openalex-snapshot

Using Simulation and Domain Adaptation to Improve Efficiency of Deep Robotic Grasping

inferredcites →https://doi.org/10.1109/icra.2018.8460887openalex-snapshot

Dex-Net 3.0: Computing Robust Vacuum Suction Grasp Targets in Point Clouds Using a New Analytic Model and Deep Learning

inferredcites →https://doi.org/10.1109/icra.2018.8461044openalex-snapshot

Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching

inferredcites →https://doi.org/10.1109/icra.2018.8461175openalex-snapshot

Reactive Planar Manipulation with Convex Hybrid MPC

inferredcites →https://doi.org/10.1109/icra.2018.8463191openalex-snapshot

Cartman: The Low-Cost Cartesian Manipulator that Won the Amazon Robotics Challenge

inferredcites →https://doi.org/10.1109/icra.2019.8793744openalex-snapshot

Segmenting Unknown 3D Objects from Real Depth Images using Mask R-CNN Trained on Synthetic Data

inferredcites →https://doi.org/10.1109/iros.2013.6696854openalex-snapshot

Classical grasp quality evaluation: New algorithms and theory

inferredcites →https://doi.org/10.1109/iros.2016.7759058openalex-snapshot

Contact localization on grasped objects using tactile sensing

inferredcites →https://doi.org/10.1109/iros.2016.7759657openalex-snapshot

Deep learning a grasp function for grasping under gripper pose uncertainty

inferredcites →https://doi.org/10.1109/iros.2017.8202133openalex-snapshot

Domain randomization for transferring deep neural networks from simulation to the real world

inferredcites →https://doi.org/10.1109/iros.2018.8593528openalex-snapshot

Tactile Regrasp: Grasp Adjustments via Simulated Tactile Transformations

inferredcites →https://doi.org/10.1109/iros.2018.8593986openalex-snapshot

Learning Synergies Between Pushing and Grasping with Self-Supervised Deep Reinforcement Learning

inferredcites →https://doi.org/10.1109/lra.2018.2851026openalex-snapshot

Friction Variability in Planar Pushing Data: Anisotropic Friction and Data-Collection Bias

inferredcites →https://doi.org/10.1109/lra.2018.2852779openalex-snapshot

More Than a Feeling: Learning to Grasp and Regrasp Using Vision and Touch

inferredcites →https://doi.org/10.1109/tase.2018.2871354openalex-snapshot

Guest Editorial Open Discussion of Robot Grasping Benchmarks, Protocols, and Metrics

inferredcites →https://doi.org/10.1109/tro.2012.2189498openalex-snapshot

Physical Human Interactive Guidance: Identifying Grasping Principles From Human-Planned Grasps

inferredcites →https://doi.org/10.1109/tro.2013.2289018openalex-snapshot

Data-Driven Grasp Synthesis—A Survey

inferredcites →https://doi.org/10.1163/156855394x00356openalex-snapshot

Tactile sensing and control of robotic manipulation

inferredcites →https://doi.org/10.1177/0278364907087172openalex-snapshot

Robotic Grasping of Novel Objects using Vision

inferredcites →https://doi.org/10.1177/0278364914549607openalex-snapshot

Deep learning for detecting robotic grasps

inferredcites →https://doi.org/10.1177/0278364915592961openalex-snapshot

A novel type of compliant and underactuated robotic hand for dexterous grasping

inferredcites →https://doi.org/10.1177/0278364917710318openalex-snapshot

Learning hand-eye coordination for robotic grasping with deep learning and large-scale data collection

inferredcites →https://doi.org/10.1177/0278364917735594openalex-snapshot

Grasp Pose Detection in Point Clouds

inferredcites →https://doi.org/10.1201/9781315136370openalex-snapshot

A Mathematical Introduction to Robotic Manipulation

inferredcites →https://doi.org/10.15607/rss.2017.xiii.034openalex-snapshot

CAD2RL: Real Single-Image Flight Without a Single Real Image

inferredcites →https://doi.org/10.15607/rss.2017.xiii.058openalex-snapshot

Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics

inferredcites →https://doi.org/10.15607/rss.2018.xiv.021openalex-snapshot

Closing the Loop for Robotic Grasping: A Real-time, Generative Grasp Synthesis Approach

inferredcites →https://doi.org/10.48550/arxiv.1706.04652openalex-snapshot

Learning a visuomotor controller for real world robotic grasping using simulated depth images

inferredcites →https://doi.org/10.48550/arxiv.1707.02267openalex-snapshot

Transferring End-to-End Visuomotor Control from Simulation to Real World for a Multi-Stage Task

What points at this work

Incoming claims: where this work appears in other papers’ reference lists and arguments.

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A self-supervised exploratory guided push and grasp approach to enhance robotic manipulation in clutter

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VLM-integrated 3D perception model for robust robotic grasping adapted to deformable sacks with arbitrary shapes

inferred← citeshttps://doi.org/10.1016/j.robot.2026.105442openalex-snapshot

Generalizable task-oriented object grasping through LLM-guided ontology and similarity-based planning

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A review of dual-arm robot manipulation technology: Current status, challenges, and future development directions

inferred← citeshttps://doi.org/10.1016/j.tifs.2023.03.018openalex-snapshot

Robotization and intelligent digital systems in the meat cutting industry: From the perspectives of robotic cutting, perception, and digital development

inferred← citeshttps://doi.org/10.1017/s0263574723001364openalex-snapshot

Selective 6D grasping with a collision avoidance system based on point clouds and RGB+D images

inferred← citeshttps://doi.org/10.1021/acs.chemrev.3c00356openalex-snapshot

Soft Sensors and Actuators for Wearable Human–Machine Interfaces

inferred← citeshttps://doi.org/10.1038/s41467-023-36243-3openalex-snapshot

Piezo robotic hand for motion manipulation from micro to macro

inferred← citeshttps://doi.org/10.1038/s41528-022-00181-9openalex-snapshot

Nondestructive identification of softness via bioinspired multisensory electronic skins integrated on a robotic hand

inferred← citeshttps://doi.org/10.1038/s41562-021-01194-6openalex-snapshot

Capturing the objects of vision with neural networks

inferred← citeshttps://doi.org/10.1038/s41586-019-1234-zopenalex-snapshot

Learning the signatures of the human grasp using a scalable tactile glove

inferred← citeshttps://doi.org/10.1038/s41598-022-04953-1openalex-snapshot

Multichannel haptic feedback unlocks prosthetic hand dexterity

inferred← citeshttps://doi.org/10.1038/s41928-024-01234-9openalex-snapshot

A tactile oral pad based on carbon nanotubes for multimodal haptic interaction

inferred← citeshttps://doi.org/10.1038/s42256-021-00324-zopenalex-snapshot

Physical human–robot interaction for clinical care in infectious environments

inferred← citeshttps://doi.org/10.1038/s42256-025-01050-6openalex-snapshot

A roadmap for AI in robotics

inferred← citeshttps://doi.org/10.1038/s42256-025-01062-2openalex-snapshot

Bioinspired trajectory modulation for effective slip control in robot manipulation

inferred← citeshttps://doi.org/10.1073/pnas.2017015118openalex-snapshot

Continuous learning of emergent behavior in robotic matter

inferred← citeshttps://doi.org/10.1073/pnas.2209819119openalex-snapshot

Active entanglement enables stochastic, topological grasping

inferred← citeshttps://doi.org/10.1080/01691864.2022.2043183openalex-snapshot

MT-DSSD: multi-task deconvolutional single shot detector for object detection, segmentation, and grasping detection

inferred← citeshttps://doi.org/10.1080/01691864.2022.2114297openalex-snapshot

World robot challenge 2020 – partner robot: a data-driven approach for room tidying with mobile manipulator

inferred← citeshttps://doi.org/10.1080/01691864.2024.2416015openalex-snapshot

The impact of hand parameter optimization on industrial bin picking

inferred← citeshttps://doi.org/10.1088/1361-6501/adf90copenalex-snapshot

Research on visual servoing technology based on observation at multiple distances

inferred← citeshttps://doi.org/10.1088/1748-3190/ae0aa3openalex-snapshot

Maximizing anthropomorphic grasping abilities of bio-inspired underactuated robotic hands

inferred← citeshttps://doi.org/10.1089/soro.2022.0014openalex-snapshot

Flexible Electronic Skin for Monitoring of Grasping State During Robotic Manipulation

inferred← citeshttps://doi.org/10.1089/soro.2023.0217openalex-snapshot

Toward Damage-Less Robotic Fragile Fruit Grasping: A Closed-Loop Force Control Method for Pneumatic-Driven Soft Gripper

inferred← citeshttps://doi.org/10.1093/nsr/nwaf583openalex-snapshot

Human-taught sensory-control synergy for universal robotic grasping

inferred← citeshttps://doi.org/10.1093/nsr/nwag351openalex-snapshot

DexAnyTwist: Learning general dexterous twisting with hybrid manipulation system identification

inferred← citeshttps://doi.org/10.1108/aa-11-2020-0180openalex-snapshot

Optimal grasp force for robotic grasping and in-hand manipulation with impedance control

inferred← citeshttps://doi.org/10.1108/ir-10-2021-0236openalex-snapshot

A cascaded CNN-based method for monocular vision robotic grasping

inferred← citeshttps://doi.org/10.1108/ria-10-2023-0146openalex-snapshot

Robot skill learning and the data dilemma it faces: a systematic review

inferred← citeshttps://doi.org/10.1109/3dv50981.2020.00043openalex-snapshot

Grasping Field: Learning Implicit Representations for Human Grasps

inferred← citeshttps://doi.org/10.1109/aca57612.2023.10346726openalex-snapshot

Robotic Grasping Based on Deep Learning: A Survey

inferred← citeshttps://doi.org/10.1109/access.2020.3027923openalex-snapshot

Review of Deep Reinforcement Learning-Based Object Grasping: Techniques, Open Challenges, and Recommendations

inferred← citeshttps://doi.org/10.1109/access.2020.3031812openalex-snapshot

DCG-Net: Dynamic Capsule Graph Convolutional Network for Point Clouds

inferred← citeshttps://doi.org/10.1109/access.2021.3082947openalex-snapshot

Calibration-Free Monocular Vision-Based Robot Manipulations With Occlusion Awareness

inferred← citeshttps://doi.org/10.1109/access.2024.3456893openalex-snapshot

Deep Learning Frontiers in 3D Object Detection: A Comprehensive Review for Autonomous Driving

inferred← citeshttps://doi.org/10.1109/access.2024.3462970openalex-snapshot

RGB-Based Set Prediction Transformer of 6D Pose Estimation for Robotic Grasping Application

inferred← citeshttps://doi.org/10.1109/access.2024.3511546openalex-snapshot

Deformability-Based Grasp Pose Detection From a Visible Image

inferred← citeshttps://doi.org/10.1109/access.2025.3528643openalex-snapshot

Application of Bayesian Optimization in Gripper Design for Effective Grasping

inferred← citeshttps://doi.org/10.1109/access.2025.3574018openalex-snapshot

Approaching Collaborative Manipulation by Pushing-Grasping Fusion

inferred← citeshttps://doi.org/10.1109/aim46323.2023.10196256openalex-snapshot

Development of an Autonomous, Explainable, Robust Robotic System for Electric Vehicle Battery Disassembly

inferred← citeshttps://doi.org/10.1109/aim64088.2025.11175816openalex-snapshot

Design of a Fast Soft Gripper for UAV Based on a Line-Driven Adaptive Entanglement Mechanism

inferred← citeshttps://doi.org/10.1109/airc61399.2024.10671747openalex-snapshot

Adaptive Robotic Grasping with Replay Tail Memory Enhancement

inferred← citeshttps://doi.org/10.1109/aris59192.2023.10268557openalex-snapshot

Design and Implementation of Dynamic Motion Policy for Multi-Sensor Omnidirectional Mobile Arm Robot System in Human-Robot Coexisted Healthcare Workplace

inferred← citeshttps://doi.org/10.1109/aris59192.2023.10268559openalex-snapshot

Online 3D Bin Packing for Novel Objects Based on Deep Reinforcement Learning

inferred← citeshttps://doi.org/10.1109/cac63892.2024.10865799openalex-snapshot

A Learning Framework for Dexterous Manipulation Skills in Multi-Finger Robot Hands

inferred← citeshttps://doi.org/10.1109/cac67268.2025.11487663openalex-snapshot

Semantic-Aware Robotic Grasping in Cluttered Environments via LLM and 3D Vision-Based Prediction

inferred← citeshttps://doi.org/10.1109/case48305.2020.9216733openalex-snapshot

One-Shot Shape-Based Amodal-to-Modal Instance Segmentation

inferred← citeshttps://doi.org/10.1109/case48305.2020.9216740openalex-snapshot

Accelerating Grasp Exploration by Leveraging Learned Priors

inferred← citeshttps://doi.org/10.1109/case48305.2020.9216746openalex-snapshot

Robotic Pick-and-Toss Facilitates Urban Waste Sorting

inferred← citeshttps://doi.org/10.1109/case48305.2020.9216844openalex-snapshot

Non-Markov Policies to Reduce Sequential Failures in Robot Bin Picking

inferred← citeshttps://doi.org/10.1109/case48305.2020.9216902openalex-snapshot

Industrial Robot Grasping with Deep Learning using a Programmable Logic Controller (PLC)

inferred← citeshttps://doi.org/10.1109/case48305.2020.9216986openalex-snapshot

Robotic Grasping using Deep Reinforcement Learning

inferred← citeshttps://doi.org/10.1109/case48305.2020.9217018openalex-snapshot

Orienting Novel 3D Objects Using Self-Supervised Learning of Rotation Transforms

inferred← citeshttps://doi.org/10.1109/case49439.2021.9551395openalex-snapshot

Kit-Net: Self-Supervised Learning to Kit Novel 3D Objects into Novel 3D Cavities

inferred← citeshttps://doi.org/10.1109/case49439.2021.9551399openalex-snapshot

Learning a Skill-sequence-dependent Policy for Long-horizon Manipulation Tasks

inferred← citeshttps://doi.org/10.1109/case49439.2021.9551628openalex-snapshot

FogROS: An Adaptive Framework for Automating Fog Robotics Deployment

inferred← citeshttps://doi.org/10.1109/case49997.2022.9926427openalex-snapshot

MetaGraspNet: A Large-Scale Benchmark Dataset for Scene-Aware Ambidextrous Bin Picking via Physics-based Metaverse Synthesis

inferred← citeshttps://doi.org/10.1109/case49997.2022.9926708openalex-snapshot

Towards Object Agnostic and Robust 4-DoF Table-Top Grasping

inferred← citeshttps://doi.org/10.1109/case58245.2025.11163954openalex-snapshot

ORB: Operating Room Bot, Automating Operating Room Logistics through Mobile Manipulation

inferred← citeshttps://doi.org/10.1109/case59546.2024.10711359openalex-snapshot

Design of a Multiple Cilia Inspired Active Entanglement Soft Gripper for Adaptable and Stable Grasping

inferred← citeshttps://doi.org/10.1109/case59546.2024.10711481openalex-snapshot

Enhancing Robotic Grasp Failure Prediction Using A Pre-hoc Explainability Framework*

inferred← citeshttps://doi.org/10.1109/case69030.2026.11704382openalex-snapshot

Learning Multi-Step Manipulation Using Symmetry-Aware Reinforcement Learning

inferred← citeshttps://doi.org/10.1109/ccdc52312.2021.9601770openalex-snapshot

6-DOF grasp planning of manipulator combined with self-supervised learning

inferred← citeshttps://doi.org/10.1109/coase.2019.8842901openalex-snapshot

Dex-Net MM: Deep Grasping for Surface Decluttering with a Low-Precision Mobile Manipulator

inferred← citeshttps://doi.org/10.1109/coase.2019.8842977openalex-snapshot

Bin-picking Robot using a Multi-gripper Switching Strategy based on Object Sparseness

inferred← citeshttps://doi.org/10.1109/coase.2019.8843109openalex-snapshot

Robust 2D Assembly Sequencing via Geometric Planning with Learned Scores

inferred← citeshttps://doi.org/10.1109/codit58514.2023.10284269openalex-snapshot

Gripper Design Optimization for Effective Grasping of Diverse Object Geometries

inferred← citeshttps://doi.org/10.1109/crc52766.2021.9620132openalex-snapshot

An End-to-End Spatial Grasp Prediction Model for Humanoid Multi-fingered Hand Using Deep Network

inferred← citeshttps://doi.org/10.1109/cvpr52729.2023.00852openalex-snapshot

Target-referenced Reactive Grasping for Dynamic Objects

inferred← citeshttps://doi.org/10.1109/cvpr52729.2023.02040openalex-snapshot

Markerless Camera-to-Robot Pose Estimation via Self-Supervised Sim-to-Real Transfer

inferred← citeshttps://doi.org/10.1109/cvpr52733.2024.00187openalex-snapshot

G-HOP: Generative Hand-Object Prior for Interaction Reconstruction and Grasp Synthesis

inferred← citeshttps://doi.org/10.1109/cvpr52733.2024.00932openalex-snapshot

Bilateral Propagation Network for Depth Completion

inferred← citeshttps://doi.org/10.1109/cvpr52734.2025.01139openalex-snapshot

UniGraspTransformer: Simplified Policy Distillation for Scalable Dexterous Robotic Grasping

inferred← citeshttps://doi.org/10.1109/cyber63482.2024.10748900openalex-snapshot

Kinematic Model Under Different Door Opening Steps Based on the Rigid-Flexible Variable Gripper

inferred← citeshttps://doi.org/10.1109/edpc48408.2019.9011861openalex-snapshot

Machine Learning in Electric Motor Production - Potentials, Challenges and Exemplary Applications

inferred← citeshttps://doi.org/10.1109/eecr64516.2025.11077261openalex-snapshot

Robot Disordered Picking Using Point Pair Feature Algorithm

inferred← citeshttps://doi.org/10.1109/etfa54631.2023.10275481openalex-snapshot

Automated Depth Dataset Generation with Integrated Quality Metrics for Robotic Manipulation

inferred← citeshttps://doi.org/10.1109/etfa54631.2023.10275576openalex-snapshot

Automated Configuration and Flexibilization of Vacuum Grippers

inferred← citeshttps://doi.org/10.1109/etfa61755.2024.10711021openalex-snapshot

Segmentation-Based Approach for a Heuristic Grasping Procedure in Multi-Object Scenes

inferred← citeshttps://doi.org/10.1109/etfa65518.2025.11205589openalex-snapshot

Plug-and-Play One-Shot Object Detection Framework for Industrial Applications

inferred← citeshttps://doi.org/10.1109/hora58378.2023.10155773openalex-snapshot

Variable Grasp Pose and Commitment for Trajectory Optimization

inferred← citeshttps://doi.org/10.1109/humanoids53995.2022.10000118openalex-snapshot

Manipulation-Oriented Object Perception in Clutter through Affordance Coordinate Frames

inferred← citeshttps://doi.org/10.1109/humanoids58906.2024.10769854openalex-snapshot

Generating Dual-Arm Inverse Kinematics Solutions using Latent Variable Models

inferred← citeshttps://doi.org/10.1109/icac70325.2026.11712558openalex-snapshot

Hand Selection Support System for Industrial Two-Fingered Hand

inferred← citeshttps://doi.org/10.1109/icact67549.2025.11351421openalex-snapshot

Optimizing Robotic Manipulation and Grasping Techniques for Complex Tasks Using Reinforcement Learning and Computer Vision

inferred← citeshttps://doi.org/10.1109/icar46387.2019.8981633openalex-snapshot

Task-oriented Function Detection Based on Operational Tasks

inferred← citeshttps://doi.org/10.1109/icara51699.2021.9376455openalex-snapshot

Coinbot: Intelligent Robotic Coin Bag Manipulation Using Artificial Brain

inferred← citeshttps://doi.org/10.1109/icara64554.2025.10977572openalex-snapshot

HILO: A Large-Scale Heterogeneous Object Dataset for Benchmarking Robotic Grasping Approaches

inferred← citeshttps://doi.org/10.1109/icarce59252.2024.10492537openalex-snapshot

Robotic Grasp Detection for Medical Test Tubes Based on Convolutional Neural Network

inferred← citeshttps://doi.org/10.1109/icce56470.2023.10043452openalex-snapshot

Bin-Picking in the Industry 4.0 Era

inferred← citeshttps://doi.org/10.1109/iccv51070.2023.01884openalex-snapshot

ContactGen: Generative Contact Modeling for Grasp Generation

inferred← citeshttps://doi.org/10.1109/icicos62600.2024.10636913openalex-snapshot

PesoBot: Precision Handling of New Philippine Peso Coins Using Vacuum Gripper and YOLOv8 Algorithm

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