外观
论文arXiv 2609.137611 个月前
面向通用 6D 位姿的手内物体到达学习
原文链接：Learning In-Hand Object Reaching to General 6D Poses（arXiv 2609.13761 · 发布日期：2026-09-12）
Learning In-Hand Object Reaching to General 6D Poses
针对手内操作需同时控制位置与姿态，提出 POISE 仿真到现实强化学习框架，并在仿真和真机上验证。
核心要点
- 多数学习方法偏重重定向、连续旋转或平移，难以覆盖位置与姿态联合控制需求。
- POISE 结合多样稳定抓取初始化、目标与几何条件控制、自适应 6D 目标课程和紧凑奖励。
- 仿真中，多样初始化提升未见抓取与跌落恢复成功率，课程将全范围成功率由6.2%提至59.5%。
- 真机上，抓取保持奖励使三目标序列成功率20%提至80%；作者将发布代码。
验证范围与局限：验证包括仿真，以及真机上多种物体几何和手腕姿态下的连续 6D 目标到达与外部扰动恢复。
英文摘要 (Abstract)
In-hand manipulation allows multi-fingered dexterous hands to reconfigure grasped objects without releasing and regrasping them. This improves manipulation efficiency by reducing repeated grasp acquisition and large arm motions. However, most learning-based methods focus on reorientation, continuous rotation, or translation, whereas many tasks require joint control of object position and orientation. We formulate this capability as in-hand 6D object pose reaching: starting from an existing grasp, coordinated finger motions move the object to a palm-relative target pose. We present POISE (Palm-relative Object reaching In SE(3)), a sim-to-real reinforcement learning framework for this task. POISE combines diverse stable-grasp initialization, goal- and geometry-conditioned control, an adaptive 6D goal curriculum, and a compact reward scheme for pose reaching and grasp preservation. In simulation, diverse initialization raises held-out-grasp success from 40.1% to 51.5% and post-drop recovery from 33.8% to 72.9%; the curriculum raises full-range success from 6.2% to 59.5%. On hardware, the grasp-maintenance reward improves three-target sequence success from 20% to 80%. In real-world experiments, POISE reaches successive 6D targets without manual reset across multiple object geometries and wrist orientations, and recovers from external disturbances. To support further research in dexterous manipulation, we will release our code at https://junxiaolin.github.io/poise-website/.
作者：Junxiao Lin, Tianyue Wu, Jie Yin, Jia Pan, Kaifeng Zhang, Weiming Zhi
来源
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