# Grasp2Twist：通过强化学习学习双手灵巧开罐

> 原文链接：https://robotics.hellobike.com/papers/2026-09-25-2609-32064
> 频道：papers | 更新日期：2026-09-25 | 标签：arxiv, cs.RO
> 核心摘要：Grasp2Twist用强化学习学习统一的双手抓握到旋拧策略，并在物理系统的六种家用容器上零样本验证。

# Grasp2Twist：通过强化学习学习双手灵巧开罐

::: v-pre
> 原文链接：[Grasp2Twist: Learning Bimanual Dexterous Jar Opening by Reinforcement Learning](https://arxiv.org/abs/2609.32064)（arXiv 2609.32064 · 发布日期：2026-09-25）

**Grasp2Twist: Learning Bimanual Dexterous Jar Opening by Reinforcement Learning**

Grasp2Twist用强化学习学习统一的双手抓握到旋拧策略，并在物理系统的六种家用容器上零样本验证。

## 核心要点

- 任务涉及多阶段统一策略、持续旋拧和Sim-to-Real迁移三项挑战。
- 方法以几何包围度量引导抓握，并用二值指标触发抓握到旋拧过渡。
- 三阶段课程促进手指接触重构探索，并提升Sim-to-Real鲁棒性。
- 策略表现出finger gaiting，真机零样本迁移在六种容器上成功率88%。

**验证范围与局限**：验证范围为物理系统零样本迁移，覆盖六种家用容器的开盖任务。

## 英文摘要 (Abstract)

This paper presents Grasp2Twist, a bimanual dexterous manipulation system that learns to grasp and twist open jar lids using reinforcement learning. Learning this task raises three challenges: learning a unified policy for a multi-stage task, sustaining lid twisting, and sim-to-real transfer. To address the first challenge, we introduce a continuous enclosure measure to guide grasp formation and a binary enclosure indicator to guide the grasp-to-twist transition for unified policy learning. We derive both from the geometric relationship between the object center and the convex hull formed by the hand's palm and fingertips. Kinematic constraints limit how far the hand can rotate the lid with fixed contacts, so sustained twisting requires finger contact reconfiguration. We use a three-stage curriculum to facilitate exploration of these contact changes and also improve robustness for sim-to-real transfer. With our approach, the learned policy demonstrates finger gaiting, reconfiguring hand-object contacts to sustain lid rotation. It transfers zero-shot to the physical system and achieves an 88% task success rate across six household containers, including peanut-butter, vitamin, and instant-coffee jars. Ablations further validate the roles of the geometric enclosure in grasp formation and the curriculum in contact-reconfiguration exploration.

作者：Mo Xu, Yunfu Deng, Jianuo Wang, Josiah Hanna, Bilge Mutlu
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## 原始参考来源 (Sources)

- [arXiv 2609.32064：Grasp2Twist: Learning Bimanual Dexterous Jar Opening by Reinforcement Learning](https://arxiv.org/abs/2609.32064)