{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T12:03:23Z","timestamp":1777637003234,"version":"3.51.4"},"reference-count":67,"publisher":"IEEE","license":[{"start":{"date-parts":[[2024,5,13]],"date-time":"2024-05-13T00:00:00Z","timestamp":1715558400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2024,5,13]],"date-time":"2024-05-13T00:00:00Z","timestamp":1715558400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2024,5,13]]},"DOI":"10.1109\/icra57147.2024.10611407","type":"proceedings-article","created":{"date-parts":[[2024,8,8]],"date-time":"2024-08-08T17:51:05Z","timestamp":1723139465000},"page":"13825-13832","source":"Crossref","is-referenced-by-count":17,"title":["See to Touch: Learning Tactile Dexterity through Visual Incentives"],"prefix":"10.1109","author":[{"given":"Irmak","family":"Guzey","sequence":"first","affiliation":[{"name":"New York University"}]},{"given":"Yinlong","family":"Dai","sequence":"additional","affiliation":[{"name":"New York University"}]},{"given":"Ben","family":"Evans","sequence":"additional","affiliation":[{"name":"New York University"}]},{"given":"Soumith","family":"Chintala","sequence":"additional","affiliation":[{"name":"Meta AI Research"}]},{"given":"Lerrel","family":"Pinto","sequence":"additional","affiliation":[{"name":"New York University"}]}],"member":"263","reference":[{"issue":"6","key":"ref1","first-page":"1317","article-title":"Biomechanics of the human thumb and the evolution of dexterity","volume-title":"Current Biology","volume":"31","author":"Karakostis","year":"2021"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1992.219918"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-33950-0_33"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487517"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.049"},{"key":"ref6","article-title":"Deep dynamics models for learning dexterous manipulation","author":"Nagabandi","year":"2019"},{"key":"ref7","article-title":"Learning dexterous in-hand manipulation","author":"Andrychowicz","year":"2019"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/icra48891.2023.10160216"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196732"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2023.XIX.036"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/icra48891.2023.10160275"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/icra48891.2023.10160547"},{"key":"ref13","article-title":"Dexterity from touch: Self-supervised pre-training of tactile representations with robotic play","author":"Guzey","year":"2023"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2023.XIX.009"},{"key":"ref15","article-title":"Dexterous grasping via eigengrasps : A low-dimensional approach to a high-complexity problem","author":"Ciocarlie","year":"2007","journal-title":"Dexterous Grasping via Eigengrasps : A Low-dimensional Approach to a High-complexity Problem"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907864"},{"key":"ref17","first-page":"1","volume-title":"ASIMO and Humanoid Robot Research at Honda.","author":"Shigemi","year":"2018"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.844067"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913514466"},{"key":"ref20","doi-asserted-by":"crossref","DOI":"10.1109\/ICRA48506.2021.9560783","article-title":"Gelsight wedge: Measuring high-resolution 3d contact geometry with a compact robot finger","author":"Wang","year":"2021"},{"key":"ref21","article-title":"Reskin: versatile, replaceable, lasting tactile skins","volume-title":"CoRR","volume":"abs\/2111.00071","author":"Bhirangi","year":"2021"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOSOFT.2019.8722713"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-71151-1_10"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202149"},{"key":"ref25","article-title":"Tactile pose estimation and policy learning for unknown object manipulation","author":"Kelestemur","year":"2022"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2019.2941366"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2852779"},{"key":"ref28","first-page":"1415","article-title":"Learning rich touch representations through cross-modal self-supervision","volume-title":"Conference on Robot Learning","author":"Zambelli"},{"key":"ref29","article-title":"Cable manipulation with a tactile-reactive gripper","author":"She","year":"2019"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593430"},{"key":"ref31","article-title":"A simple framework for contrastive learning of visual representations","author":"Chen","year":"2020"},{"key":"ref32","article-title":"Improved baselines with momentum contrastive learning","author":"Chen","year":"2020"},{"key":"ref33","article-title":"Bootstrap your own latent-a new approach to self-supervised learning","author":"Grill","year":"2020","journal-title":"NeurIPS"},{"key":"ref34","article-title":"Unsupervised learning of visual features by contrasting cluster assignments","author":"Caron","year":"2020"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/cvpr52688.2022.01553"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/iccvw.2019.00186"},{"key":"ref37","article-title":"Vicreg: Variance-invariance-covariance regularization for self-supervised learning","author":"Bardes","year":"2021"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV48922.2021.00945"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.01499"},{"key":"ref40","article-title":"Key-points into the future: Self-supervised correspondence in model-based reinforcement learning","author":"Manuelli","year":"2020"},{"key":"ref41","article-title":"Visual imitation made easy","author":"Young","year":"2020"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2022.xviii.010"},{"key":"ref43","doi-asserted-by":"crossref","DOI":"10.1109\/ICRA.2018.8462891","article-title":"Time-contrastive networks: Self-supervised learning from video","volume-title":"Proceedings of International Conference in Robotics and Automation (ICRA)","author":"Sermanet"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2008.10.024"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1145\/3054912"},{"key":"ref46","article-title":"An autonomous land vehicle in a neural network","volume":"1","author":"Pomerleau","year":"1998","journal-title":"Advances in Neural Information Processing Systems"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.24963\/ijcai.2019\/882"},{"key":"ref48","first-page":"627","article-title":"A reduction of imitation learning and structured prediction to no-regret online learning","volume-title":"Proceedings of the fourteenth international conference on artificial intelligence and statistics","author":"Ross"},{"key":"ref49","article-title":"Discriminator-actor-critic: Addressing sample inefficiency and reward bias in adversarial imitation learning","author":"Kostrikov","year":"2018"},{"key":"ref50","article-title":"Learning robust rewards with adversarial inverse reinforcement learning","author":"Fu","year":"2017"},{"key":"ref51","article-title":"Wasserstein adversarial imitation learning","author":"Xiao","year":"2019"},{"key":"ref52","article-title":"Watch and match: Supercharging imitation with regularized optimal transport","author":"Haldar","year":"2022"},{"key":"ref53","article-title":"Domain-robust visual imitation learning with mutual information constraints","author":"Cetin","year":"2021"},{"key":"ref54","first-page":"18284","article-title":"The magical benchmark for robust imitation","volume":"33","author":"Toyer","year":"2020","journal-title":"Advances in Neural Information Processing Systems"},{"key":"ref55","article-title":"Visual adversarial imitation learning using variational models","volume":"34","author":"Rafailov","year":"2021","journal-title":"Advances in Neural Information Processing Systems"},{"key":"ref56","article-title":"Imitation learning from pixel observations for continuous control","author":"Cohen","year":"2022"},{"key":"ref57","article-title":"Continuous control with deep reinforcement learning","author":"Lillicrap","year":"2015"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2812915"},{"key":"ref59","article-title":"Learning to poke by poking: Experiential learning of intuitive physics","volume-title":"NIPS","author":"Agrawal"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1103\/physrev.36.823"},{"key":"ref61","article-title":"Behavior transformers: Cloning $k$ modes with one stone","volume-title":"Advances in Neural Information Processing Systems","author":"Shafiullah","year":"2022"},{"key":"ref62","article-title":"Representation learning with contrastive predictive coding","author":"Oord","year":"2018"},{"key":"ref63","article-title":"Inverse dynamics pretraining learns good representations for multitask imitation","author":"Brandfonbrener","year":"2023"},{"key":"ref64","first-page":"305","article-title":"Alvinn: An autonomous land vehicle in a neural network","author":"Pomerleau","year":"1989","journal-title":"NeurIPS"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2016.90"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2009.5206848"},{"key":"ref67","article-title":"Sequential dexterity: Chaining dexterous policies for long-horizon manipulation","volume-title":"Conference on Robot Learning","author":"Chen"}],"event":{"name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","location":"Yokohama, Japan","start":{"date-parts":[[2024,5,13]]},"end":{"date-parts":[[2024,5,17]]}},"container-title":["2024 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/10609961\/10609862\/10611407.pdf?arnumber=10611407","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,8,11]],"date-time":"2024-08-11T04:17:30Z","timestamp":1723349850000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10611407\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,5,13]]},"references-count":67,"URL":"https:\/\/doi.org\/10.1109\/icra57147.2024.10611407","relation":{},"subject":[],"published":{"date-parts":[[2024,5,13]]}}}