HiFun: A Hierarchical Framework for Efficient Functional Dex
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HiFun introduces a hierarchical RL framework for functional dexterous manipulation, achieving 98.3% success in six tasks with one hour of online training, showing robustness to disturbances.
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Reported quantity · training time: 1 hours · Basis not reported
“th Dynamic Movement Primitive (DMP) augmentation. Across six real-world tasks on two dexterous hands, HiFun achieves 98.3% average success within one hour of online training and remains robust to dynamic disturbances. The project page is available at https://hly-123.github.io/HiFun/.”
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- arXiv Robotics — research abstractsHiFun: A Hierarchical Framework for Efficient Functional Dexterous Manipulation Learning
This paper presents HiFun, a hierarchical real-world RL framework for functional dexterous manipulation tasks. It decouples control complexity into a functional hand skill for precise contact execution and an arm-hand coordination policy for arm control and hand-skill activation. HiFun achieves 98.3% average success in six real-world tasks within one hour of online training and remains robust to dynamic disturbances.
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