DORA: Object Affordance-Guided Reinforcement
Learning for Dexterous Robotic Manipulation
IEEE CBS 2025
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DORA: Object Affordance-Guided Reinforcement
Lei Zhang 1,2, Soumya Mondal 2,3, Zhenshan Bing 3, Kaixin Bai 1,2, Diwen Zheng 2,3,
Zhaopeng Chen 2, Alois Christian Knoll 3, Jianwei Zhang 1
1 University of Hamburg, 2 Agile Robots SE
3 Technical University of Munich
Cub Grasping and Lifting
Functional Grasping and Lifting
Grasping, In-Hand Re-orientation
Hammer Use
In case this work has provided some assistance in your research endeavors, your citation would be greatly appreciated.
@article{zhang2025dora,
title={DORA: Object Affordance-Guided Reinforcement Learning for Dexterous Robotic Manipulation},
author={Zhang, Lei and Mondal, Soumya and Bing, Zhenshan and Bai, Kaixin and Zheng, Diwen and Chen, Zhaopeng and Knoll, Alois Christian and Zhang, Jianwei},
journal={arXiv preprint arXiv:2505.14819},
year={2025}
}
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