2nd Workshop on Dexterous Manipulation: Design, Perception and Control

Introduction

This workshop aims to pioneer the exploration of learning-based strategies for achieving dexterous manipulation in robotics. Dexterous manipulation is among the most challenging problems in robotics, and this event seeks to provide insights and viewpoints for researchers and attendees on this subject. We will delve into current research and advancements in the hardware design of dexterous manipulators, generalizable manipulation learning approaches, and sensing technologies like tactile sensors.

Following our first dexterous manipulation workshop in RSS 2023. This workshop is Intended for a wide range of audiences, including researchers, engineers, and students with a strong foundation or interests in machine learning, computer vision, robotics, and related fields. The workshop promises a rich dialogue among leading experts from academic and industrial backgrounds. Accepted papers will have a chance to be presented in poster sessions and contributed talks. Through these events, participants will gain insights into the latest breakthroughs and collaborative opportunities, setting the stage for future innovations in robotic learning.

Invited Speakers

Seoul National University

(listed alphabetically)

Workshop Schedule

Time (GMT+1)	Event
08:45 - 08:50	Introduction and Opening Remark
08:50 - 09:15	Invited Talk (Sammy Christen): Physically Plausible and Natural Synthesis of Hand-Object Interactions
09:15 - 09:40	Invited Talk (Hanbyul Joo): Towards capturing everyday movements to scale up and enrich human motion data
09:40 - 10:10	Spotlight Talks I
10:10 - 10:30	Coffee Break + Poster Session + Real Robot Demo Session
10:30 - 10:55	Poster Session + Real Robot Demo Session
10:55 - 11:20	Invited Talk (He Wang): Learning Generalizable Dexterous Grasping in Cluttered Environment via Sim2Real
11:20 - 11:45	Invited Talk (Robert Katzschmann): Giving Robots a Hand
11:45 - 12:10	Invited Talk (Kevin Doherty): KFC Fusion: Cooking up Kinematics, Forces, and Camera Data for Object State Estimation
12:10 - 14:00	Lunch Break
14:00 - 14:25	Invited Talk (Matei Ciocarlie): Aiming for Dexterity: A New Hand Design with a New F/T Sensor
14:25 - 14:50	Invited Talk (Tess Hellebrekers): Magnetic tactile sensing for robotic dexterity
14:50 - 15:15	Invited Talk (Jitendra Malik): Learning Approaches to Dexterous Manipulation
15:15 - 15:35	Spotlight Talks II
15:35 - 16:00	Coffee Break + Poster Session + Real Robot Demo Session
16:00 - 17:00	Panel Discussion
17:00 - 17:15	Closing Remark & Award Ceremony

Call for Papers/Demos

In this workshop, our goal is to bring together researchers from various fields of robotics, such as control, optimization, learning, planning, sensing, hardware, etc., who work on dexterous manipulation.

We are particularly excited to offer a platform for showcasing real-world robotic systems. Even without a formal paper, we encourage submissions of videos demonstrating your robots in action. For those able to attend in person, there will be opportunities to showcase your robots live at the workshop! We encourage researchers to submit work in the following areas (the list is not exhaustive):

Learning for Dexterous Manipulation
Planning and Optimization in Dexterous Manipulation
Simulation for contact-rich manipulation
Hardware design for Dexterous Manipulation
Data collection in Dexterous Manipulation
Tactile Sensing for Manipulation
Any additional related topics not already covered in the above list 😄

Submission Guidelines

Submission Portal for Paper and Demo: OpenReview
Paper Submission Guideline:

Paper Length: Submissions could be 4-page short papers, excluding references, acknowledgements, and appendices.
Format:
- The format requirement follows the RSS 2024 main conference. Paper template: LaTeX and Word
- Please include the references and appendix in the same PDF as the main paper and submit optional videos as zip file in supplementary.
- The maximum file size is 100MB. More information on format can be found here
Dual Submission for Other Conference:
- Papers to be submitted or in preparation for submission to other major venues (including CoRL 2024) in the field are allowed.
- We also welcome published works as long as explicitly stated at the time of submission.

Demo Submission Guideline:

Summary Document: Please upload a summary document as a pdf. There is no page and format requirement for this pdf.
Demo Video: Please upload video demos as a single zip under the supplementary material field in OpenReview.

Visibility: Submissions and reviews will not be public. Only accepted papers will be made public.

Timeline

Submission Port Open: Monday, April 15, 2024
Submission Deadline: ~~Monday, June 10, 2024~~ Friday, June 14, 2024
Notification: Monday, July 1, 2024
Workshop Date: Monday, July 15, 2024

Poster Sessions

	Spotlight Session I (09:40-10:10)		Spotlight Session II (15:15-15:35)
Paper Name	Authors	Paper Name	Authors
3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations	Yanjie Ze, Gu Zhang, Kangning Zhang, Chenyuan Hu, Muhan Wang, Huazhe Xu	SpringGrasp: Synthesizing Compliant, Dexterous Grasps under Shape Uncertainty	Sirui Chen, Jeannette Bohg, Karen Liu
DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation	Chen Wang, Haochen Shi, Weizhuo Wang, Ruohan Zhang, Li Fei-Fei, Karen Liu	Tilde: Teleoperation for Dexterous In-Hand Manipulation Learning with a DeltaHand	Zilin Si, Kevin Lee Zhang, Zeynep Temel, Oliver Kroemer
ContactMPC: Towards Online Adaptive Control for Contact-Rich Dexterous Manipulation	Arjun Lakshmipathy, Nancy S. Pollard	DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-scale Synthetic Cluttered Scenes	Jialiang Zhang, Haoran Liu, Danshi Li, Xinqiang Yu, Haoran Geng, Yufei Ding, Jiayi Chen, He Wang
Tactile Exploration with Particle-Based Belief Entropy	Lara Brudermüller, Julius Jankowski, Sylvain Calinon, Marc Toussaint, Nick Hawes	Next-Gen Manipulation: An Active Surface-Based Underactuated Gripper with Visual Feedback	Karthik Swaminathan, Saad Hashmi, Alqama Shaikh, Vikas Phalle
RP1M: A Large-Scale Motion Dataset for Piano Playing with Bi-Manual Dexterous Robot Hands	Le Chen, Yi Zhao, Jan Schneider, Quankai Gao, Juho Kannala, Bernhard Schölkopf, Joni Pajarinen, Dieter Büchler	PianoMime: Learning a Generalist, Dexterous Piano Player from Internet Demonstrations	Cheng Qian, Julen Urain, Kevin Zakka, Jan Peters
LEAP Hand V2: Dexterous, Low-cost Anthropomorphic Hybrid Rigid Soft Hand for Robot Learning	Kenneth Shaw, Deepak Pathak	Seahorse Tail-inspired Soft Pneumatic Actuator Utilizing Dual-mode Actuation	Dickson Chiu Yu Wong, Zijian Zhou, Garmisch Lai Yin Wong, Rob B.N. Scharff
OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning	Tairan He, Zhengyi Luo, Xialin He, Wenli Xiao, Chong Zhang, Weinan Zhang, Kris M. Kitani, Changliu Liu, Guanya Shi	A Dexterous Robotic Hand for In-Hand Manipulation of Long, Thin Objects	Abdullah Nazir
ArtiGrasp: Physically Plausible Synthesis of Bi-Manual Dexterous Grasping and Articulation	Hui Zhang, Sammy Christen, Zicong Fan, Luocheng Zheng, Jemin Hwangbo, Jie Song, Otmar Hilliges	CyberDemo: Augmenting Simulated Human Demonstration for Real-World Dexterous Manipulation	Jun Wang, Yuzhe Qin, Kaiming Kuang, Yigit Korkmaz, Akhilan Gurumoorthy, Hao Su, Xiaolong Wang
A Compliant Gripper System for Delicate Object Grasping through Intrinsic Contact Sensing	Tao Yu, Jiepeng Wang, Shujie Tang, Xingyue Zhu, Genliang Chen
Sarcomere Dynamics - High Dexterity Robotic Hands	Harpal Mandaher