Visual-tactile pretraining and online multitask learning for humanlike manipulation dexterity

摘要

Achieving humanlike dexterity with anthropomorphic multifingered robotic hands requires precise finger coordination. However, dexterous manipulation remains highly challenging because of high-dimensional action-observation spaces, complex hand-object contact dynamics, and frequent occlusions. To address this, we drew inspiration from the human learning paradigm of observation and practice and propose a two-stage learning framework by learning visual-tactile integration representations via self-supervised learning from human demonstrations. We trained a unified multitask policy through reinforcement learning and online imitation learning. This decoupled learning enabled the robot to acquire generalizable manipulation skills using only monocular images and simple binary tactile signals. With the unified policy, we built a multifingered hand manipulation system that performs multiple complicated tasks with low-cost sensing. It achieved an 85% success rate across five complex tasks and 25 objects and further generalized to three unseen tasks that share similar hand-object coordination patterns with the training tasks.