{"paper":{"title":"APriCoT: Action Primitives based on Contact-state Transition for In-Hand Tool Manipulation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Atsushi Kanehira, Daichi Saito, Hideki Koike, Jun Takamatsu, Katsushi Ikeuchi, Kazuhiro Sasabuchi, Naoki Wake","submitted_at":"2024-07-16T07:02:39Z","abstract_excerpt":"In-hand tool manipulation is an operation that not only manipulates a tool within the hand (i.e., in-hand manipulation) but also achieves a grasp suitable for a task after the manipulation. This study aims to achieve an in-hand tool manipulation skill through deep reinforcement learning. The difficulty of learning the skill arises because this manipulation requires (A) exploring long-term contact-state changes to achieve the desired grasp and (B) highly-varied motions depending on the contact-state transition. (A) leads to a sparsity of a reward on a successful grasp, and (B) requires an RL ag"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.11436","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2407.11436/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}