Vegetable Peeling: A Case Study in Constrained Dexterous Manipulation
This addresses the gap in using dexterous manipulation for practical tasks like food peeling, but it is incremental as it builds on existing reorientation methods.
The paper tackles the problem of applying dexterous manipulation controllers to downstream tasks by focusing on constrained food peeling, which requires secure object holding after reorientation, and proposes a simple learning system for this, with results demonstrated in videos.
Recent studies have made significant progress in addressing dexterous manipulation problems, particularly in in-hand object reorientation. However, there are few existing works that explore the potential utilization of developed dexterous manipulation controllers for downstream tasks. In this study, we focus on constrained dexterous manipulation for food peeling. Food peeling presents various constraints on the reorientation controller, such as the requirement for the hand to securely hold the object after reorientation for peeling. We propose a simple system for learning a reorientation controller that facilitates the subsequent peeling task. Videos are available at: https://taochenshh.github.io/projects/veg-peeling.