TriFinger: An Open-Source Robot for Learning Dexterity

Manuel Wuthrich, Felix Widmaier, Felix Grimminger, Shruti Joshi, Vaibhav Agrawal, Bilal Hammoud, Majid Khadiv, Miroslav Bogdanovic, Vincent Berenz, Julian Viereck, Maximilien Naveau, Ludovic Righetti, Bernhard Schölkopf, Stefan Bauer

Abstract: Dexterous object manipulation is still an open problem in robotics, despite the rapid progress in machine learning during the past decade. We argue that a key issue which has hindered progress is t...