{"id":"https://openalex.org/W4415524383","doi":"https://doi.org/10.1109/humanoids65713.2025.11203017","title":"SynPolDex: Synergizing Fingers via Bi-Level Policy Learning for Dexterous Robotic Hands","display_name":"SynPolDex: Synergizing Fingers via Bi-Level Policy Learning for Dexterous Robotic Hands","publication_year":2025,"publication_date":"2025-09-30","ids":{"openalex":"https://openalex.org/W4415524383","doi":"https://doi.org/10.1109/humanoids65713.2025.11203017"},"language":null,"primary_location":{"id":"doi:10.1109/humanoids65713.2025.11203017","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203017","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5112008552","display_name":"Yanming Shao","orcid":"https://orcid.org/0009-0008-4196-1138"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanming Shao","raw_affiliation_strings":["School of Information Science and Technology at ShanghaiTech University,Shanghai AI Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology at ShanghaiTech University,Shanghai AI Laboratory","institution_ids":["https://openalex.org/I30809798"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030190829","display_name":"Yan Ding","orcid":"https://orcid.org/0000-0002-7949-4351"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yan Ding","raw_affiliation_strings":["Suzhou OneStar Robotics Co. Ltd.,AI Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Suzhou OneStar Robotics Co. Ltd.,AI Laboratory","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031386948","display_name":"Chenxi Xiao","orcid":"https://orcid.org/0000-0002-7819-9633"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenxi Xiao","raw_affiliation_strings":["School of Information Science and Technology at ShanghaiTech University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology at ShanghaiTech University","institution_ids":["https://openalex.org/I30809798"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"704","last_page":"711"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.984000027179718,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.984000027179718,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9605000019073486,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9581000208854675,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6963000297546387},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.604200005531311},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.47130000591278076},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.4641000032424927},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.461899995803833},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.421999990940094},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.42100000381469727},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.41510000824928284}],"concepts":[{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6963000297546387},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6212999820709229},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6115999817848206},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.604200005531311},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.47130000591278076},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.4641000032424927},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.461899995803833},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.421999990940094},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.42100000381469727},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.41510000824928284},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.40549999475479126},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4009999930858612},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.3822999894618988},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.3140000104904175},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.310699999332428},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.30880001187324524},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.29179999232292175},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.27619999647140503},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.27140000462532043},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2700999975204468},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.2653999924659729},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2603999972343445},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.25999999046325684},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.25360000133514404}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids65713.2025.11203017","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203017","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1972867808","https://openalex.org/W2003329174","https://openalex.org/W2070787044","https://openalex.org/W2093373149","https://openalex.org/W2126952943","https://openalex.org/W2282481780","https://openalex.org/W2759295390","https://openalex.org/W3035624836","https://openalex.org/W3128707967","https://openalex.org/W4224862098","https://openalex.org/W4253193775","https://openalex.org/W4321330995","https://openalex.org/W4385430472","https://openalex.org/W4385430618","https://openalex.org/W4385430685","https://openalex.org/W4386076519","https://openalex.org/W4392502288","https://openalex.org/W4403331517","https://openalex.org/W4403977124","https://openalex.org/W4404085362","https://openalex.org/W4404953647","https://openalex.org/W4409348659","https://openalex.org/W4413145126","https://openalex.org/W4413147553","https://openalex.org/W4413156040","https://openalex.org/W4413925370","https://openalex.org/W4414050714","https://openalex.org/W4414051092"],"related_works":[],"abstract_inverted_index":{"Humans":[0],"naturally":[1],"coordinate":[2],"multiple":[3],"fingers":[4,54,122],"to":[5,24,55,63,85,135,156,166,199],"perform":[6],"a":[7,73,105,115,132,174],"wide":[8],"range":[9],"of":[10,94,176],"daily":[11],"tasks":[12,177],"in":[13],"an":[14,100,162],"ergonomically":[15],"efficient":[16,59],"manner.":[17],"In":[18],"contrast,":[19],"robotic":[20,49],"hands":[21,50],"have":[22],"yet":[23],"fully":[25],"leverage":[26],"such":[27],"dexterity,":[28],"often":[29],"executing":[30],"uncoordinated":[31],"actions":[32],"despite":[33],"their":[34,53],"multi-fingered":[35],"structures.":[36],"To":[37,66,143],"bridge":[38],"this":[39,68],"gap,":[40],"we":[41,70,98,130,151],"introduce":[42],"the":[43,140,145,153],"Synergetic":[44],"Dexterity":[45],"Challenge:":[46],"How":[47],"can":[48],"effectively":[51],"synergize":[52],"enable":[56],"intuitive":[57],"and":[58,111,160,178,194],"object":[60],"manipulation,":[61],"akin":[62],"human-level":[64],"dexterity?":[65],"address":[67],"challenge,":[69],"propose":[71],"SynPoldex,":[72],"novel":[74],"bi-level":[75],"pipeline":[76],"that":[77,186],"integrates":[78],"high-level":[79],"planning":[80],"with":[81],"low-level":[82],"reinforcement":[83],"learning":[84],"achieve":[86],"coordinated":[87],"finger":[88,117,146],"control.":[89],"Specifically,":[90],"our":[91],"method":[92],"consists":[93],"two":[95],"components.":[96],"First,":[97],"employ":[99],"explicit":[101],"chain-of-thought":[102],"approach":[103],"using":[104],"vision-language":[106],"model":[107],"for":[108],"multi-turn":[109],"reasoning":[110],"reflection,":[112],"which":[113],"generates":[114],"taskspecific":[116],"synergy":[118,141],"plan":[119,147],"by":[120],"categorizing":[121],"into":[123],"either":[124],"dominant":[125],"or":[126],"non-dominant":[127],"roles.":[128],"Second,":[129],"acquire":[131],"lowlevel":[133],"policy":[134,168],"execute":[136],"motions":[137],"based":[138],"on":[139],"plan.":[142],"incorporate":[144],"as":[148],"prior":[149],"knowledge,":[150],"reshape":[152],"reward":[154],"function":[155],"encourage":[157],"appropriate":[158],"contact,":[159],"applies":[161],"advantage":[163],"factorization":[164],"technique":[165],"enhance":[167],"learning.":[169],"We":[170],"evaluate":[171],"SYNPOLDEX":[172],"across":[173],"variety":[175],"three":[179],"different":[180],"robot":[181],"embodiments.":[182],"Experimental":[183],"results":[184],"show":[185],"Synpoldex":[187],"achieves":[188],"higher":[189,195],"success":[190],"rates,":[191],"faster":[192],"convergence,":[193],"human-likeness":[196],"score":[197],"compared":[198],"baseline":[200],"methods.":[201]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-24T00:00:00"}
