外观
论文arXiv 2609.181741 个月前
TacBPM：用于灵巧重定向的触觉条件行为先验模型
原文链接：TacBPM: A Tactile-conditioned Behavior Prior Model for Dexterous Reorientation（arXiv 2609.18174 · 发布日期：2026-09-16）
TacBPM: A Tactile-conditioned Behavior Prior Model for Dexterous Reorientation
TacBPM用触觉条件行为先验复用潜在控制，在灵巧重定向、轴旋转和臂手任务中验证加速训练与稳定性。
核心要点
- 灵巧手内操作需在间歇接触中协调高自由度关节，并适应几何、位姿与感知变化。
- 模型将多尺度球体专家蒸馏为潜在控制器，并以触觉-本体历史条件化行为先验。
- 下游策略通过残差潜在动作复用固定先验，减少从原始关节命令重新探索。
- 实验显示其加速训练，在原始动作PPO近乎失败处获得稳定策略，并实现Sim-to-Real迁移。
验证范围与局限：验证范围包括手内与臂手任务、各向异性物体任意姿态迁移、指令轴旋转和Grasp-to-AnyPose。
英文摘要 (Abstract)
Dexterous in-hand manipulation requires policies that coordinate high-DoF hand joints through intermittent, contact-rich interaction. Beyond target-orientation tracking, such policies must discover finger gaits that preserve object stability while adapting to geometry, anisotropy, pose, contact, and sensing changes. We propose \method, a tactile-conditioned behavior prior model for dexterous reorientation. \method distills multi-scale sphere specialists into a latent controller and lets downstream policies reuse the fixed tactile prior through residual latent actions, reducing renewed exploration from raw joint commands. The prior conditions on tactile-proprioceptive history so latent behavior reflects the current hand-object interaction. We evaluate arbitrary-pose transfer across anisotropic objects, commanded-axis rotation, and an arm-hand Grasp-to-AnyPose task in which the robot must grasp, lift, transport, and reach goal poses for novel tool geometries and generalized placements. Extensive experiments demonstrate that the proposed method accelerates training and enables stable policies where matched raw-action PPO remains near failure, with successful sim-to-real transfer in in-hand and arm-hand tasks.
作者：Jie Yin, Wanli Xing, Zeyuan Zhao, Xuezhou Zhu, Zhijie Deng, Kaifeng Zhang
来源
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