{"id":"https://openalex.org/W7140191134","doi":"https://doi.org/10.48550/arxiv.2603.22263","title":"DexDrummer: In-Hand, Contact-Rich, and Long-Horizon Dexterous Robot Drumming","display_name":"DexDrummer: In-Hand, Contact-Rich, and Long-Horizon Dexterous Robot Drumming","publication_year":2026,"publication_date":"2026-03-23","ids":{"openalex":"https://openalex.org/W7140191134","doi":"https://doi.org/10.48550/arxiv.2603.22263"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.22263","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.22263","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.22263","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Fang, Hung-Chieh","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fang, Hung-Chieh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Xie, Amber","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xie, Amber","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Grannen, Jennifer","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Grannen, Jennifer","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Llontop, Kenneth","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Llontop, Kenneth","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Sadigh, Dorsa","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sadigh, Dorsa","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"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":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.429500013589859,"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":0.429500013589859,"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/T11349","display_name":"Music Technology and Sound Studies","score":0.28769999742507935,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.06719999760389328,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.6672000288963318},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5860999822616577},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5760999917984009},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.5421000123023987},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5343999862670898},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4697999954223633},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.46560001373291016},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.37540000677108765}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.6672000288963318},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5860999822616577},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.58160001039505},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5760999917984009},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.5421000123023987},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5343999862670898},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4966999888420105},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4697999954223633},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.46560001373291016},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.37540000677108765},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3686999976634979},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3427000045776367},{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.32499998807907104},{"id":"https://openalex.org/C2777267654","wikidata":"https://www.wikidata.org/wiki/Q3519023","display_name":"Test (biology)","level":2,"score":0.28369998931884766},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2808000147342682},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.2793999910354614},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.27799999713897705},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.2768000066280365},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2709999978542328},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.25760000944137573}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.22263","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.22263","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.22263","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.22263","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.5389738082885742,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Performing":[0],"in-hand,":[1],"contact-rich,":[2],"and":[3,65,81,88,145,163,189,215],"long-horizon":[4,82],"dexterous":[5,51,131],"manipulation":[6,132],"remains":[7],"an":[8,220],"unsolved":[9],"challenge":[10],"in":[11,24,102],"robotics.":[12],"Prior":[13],"hand":[14],"dexterity":[15],"works":[16],"have":[17],"considered":[18],"each":[19],"of":[20,42,77,113,158,223],"these":[21,30],"three":[22,57],"challenges":[23],"isolation,":[25],"yet":[26],"do":[27],"not":[28],"combine":[29],"skills":[31],"into":[32],"a":[33,48,95,180,204],"single,":[34],"complex":[35],"task.":[36],"To":[37],"further":[38],"test":[39],"the":[40,67,70,78,110],"capabilities":[41],"dexterity,":[43],"we":[44,150,199],"propose":[45],"drumming":[46,99],"as":[47],"testbed":[49],"for":[50,63,125],"manipulation.":[52],"Drumming":[53],"naturally":[54],"integrates":[55],"all":[56],"challenges:":[58],"it":[59],"involves":[60],"in-hand":[61],"control":[62],"stabilizing":[64],"adjusting":[66],"drumstick":[68],"with":[69,104,121,219],"fingers,":[71],"contact-rich":[72,135],"interaction":[73],"through":[74],"repeated":[75],"striking":[76],"drum":[79],"surface,":[80],"coordination":[83],"when":[84],"switching":[85],"between":[86,128],"drums":[87],"sustaining":[89],"rhythmic":[90],"play.":[91],"We":[92],"present":[93],"DexDrummer,":[94],"hierarchical":[96],"object-centric":[97],"bimanual":[98,161,173],"policy":[100,133,153,178,183],"trained":[101],"simulation":[103],"sim-to-real":[105],"transfer.":[106],"The":[107],"framework":[108],"reduces":[109],"exploration":[111],"difficulty":[112],"pure":[114],"reinforcement":[115],"learning":[116],"by":[117,138,184],"combining":[118],"trajectory":[119],"planning":[120],"residual":[122],"RL":[123],"corrections":[124],"fast":[126],"transitions":[127],"drums.":[129],"A":[130],"handles":[134],"dynamics,":[136],"guided":[137],"rewards":[139],"that":[140,167],"explicitly":[141],"model":[142],"both":[143],"finger-stick":[144],"stick-drum":[146],"interactions.":[147],"In":[148,196],"simulation,":[149],"show":[151,200],"our":[152,175,212],"can":[154],"play":[155,211],"two":[156],"styles":[157],"music:":[159],"multi-drum,":[160],"songs":[162,188,193],"challenging,":[164],"technical":[165],"exercises":[166],"require":[168],"increased":[169],"dexterity.":[170],"Across":[171],"simulated":[172],"tasks,":[174,198],"dexterous,":[176],"reactive":[177],"outperforms":[179],"fixed":[181],"grasp":[182],"1.87x":[185],"across":[186,191,203],"easy":[187],"1.22x":[190],"hard":[192],"F1":[194,221],"scores.":[195],"real-world":[197],"song":[201,214],"performance":[202],"multi-drum":[205],"setup.":[206],"DexDrummer":[207],"is":[208],"able":[209],"to":[210],"training":[213],"its":[216],"extended":[217],"version":[218],"score":[222],"1.0.":[224]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-03-25T00:00:00"}
