Failure-Mode Analysis of A Learned Dexterous Hand Controller

Shadow Dexterous Hand handling a pen shaped object

Completed as part of a graduate course at the University of Toronto | Tensorflow, Python, OpenAI gym.

  • Conducted a failure mode analysis on learned DDPG-based policies used to control a dexterous hand with tactile sensors, in an attempt to understand the utility of tactile information.
  • The experiments were conducted using the OpenAI gym, Mujoco Simulator, and Tensorflow.
  • Video, a full report, and the corresponding code is available here.
Abhinav Grover
Abhinav Grover
MASc Student and Researcher

Research student at the University of Toronto, interested in robot manipulation and tactile sensing.