Hierarchical goal-conditioned RL with a latent tool-shape representation enables a dexterous hand to manipulate tweezers and grasp objects with 70.8% real-world success.
Deep Reinforcement Learning of Dex- terous Pre-Grasp Manipulation for Human-Like Functional Categorical Grasping,
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Hierarchical Reinforcement Learning for Articulated Tool Manipulation with Multifingered Hand
Hierarchical goal-conditioned RL with a latent tool-shape representation enables a dexterous hand to manipulate tweezers and grasp objects with 70.8% real-world success.