Demonstration Video of the Target Position-Guided In-Hand Reorientation for Five-Fingered Dexterous Hands

To achieve arbitrary in-hand object reorientation for anthropomorphic five-fingered dexterous hands with different degree-of-freedom (DoF) in a human-like manner, a target position-guided in-hand object reorientation learning architecture is proposed. The experimental results indicate that our architecture outperformed in the reorientation task when applied to anthropomorphic five-fingered dexterous hands with different DoA. This enables the 9-DoA Schunk SVH dexterous hand, the 13-DoA BICE dexterous hand developed by our team, and the 18-DoA Shadow dexterous hand to approach the predefined maximum number of consecutive successes. Moreover, compared with the reorientation learning architecture without target position guidance, our method substantially decreases the average number of environment steps per episode needed for reorientation tasks, allowing the anthropomorphic five-fingered dexterous hands to execute object reorientation with human-like coordination by utilizing both palm and fingers, thus improving the operation's efficiency.