{"id":84,"date":"2026-05-08T03:23:04","date_gmt":"2026-05-08T03:23:04","guid":{"rendered":"https:\/\/mscvprojects.ri.cmu.edu\/2026teamf18\/?page_id=84"},"modified":"2026-08-26T19:10:29","modified_gmt":"2026-08-26T19:10:29","slug":"experiments","status":"publish","type":"page","link":"https:\/\/mscvprojects.ri.cmu.edu\/2026teamf18\/experiments\/","title":{"rendered":"Experiment"},"content":{"rendered":"\n<h2 class=\"wp-block-heading\">Task Setting<\/h2>\n\n\n\n<p>We evaluate the framework on dexterous manipulation tasks in simulation. The main tasks include <em><strong><a href=\"https:\/\/www.chenbao.tech\/dexart\/\">DexArt<\/a><\/strong><\/em> Bucket and Laptop, with an additional Spray Bottle task used to test the method on a new object interaction setting.<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"968\" height=\"521\" src=\"https:\/\/mscvprojects.ri.cmu.edu\/2026teamf18\/wp-content\/uploads\/sites\/160\/2026\/05\/image-6.png\" alt=\"\" class=\"wp-image-152\" srcset=\"https:\/\/mscvprojects.ri.cmu.edu\/2026teamf18\/wp-content\/uploads\/sites\/160\/2026\/05\/image-6.png 968w, https:\/\/mscvprojects.ri.cmu.edu\/2026teamf18\/wp-content\/uploads\/sites\/160\/2026\/05\/image-6-300x161.png 300w, https:\/\/mscvprojects.ri.cmu.edu\/2026teamf18\/wp-content\/uploads\/sites\/160\/2026\/05\/image-6-768x413.png 768w\" sizes=\"auto, (max-width: 706px) 89vw, (max-width: 767px) 82vw, 740px\" \/><\/figure>\n\n\n\n<p><\/p>\n\n\n\n<h3 class=\"wp-block-heading\">Goal Representation Ablation<\/h3>\n\n\n\n<p>We compare different 3D hand goal representations on the Bucket task. This ablation studies the trade-off between compactness and expressiveness. A compact goal is easier for the high-level policy to predict, while a richer goal can provide more detailed guidance for finger placement and contact formation.<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"410\" src=\"https:\/\/mscvprojects.ri.cmu.edu\/2026teamf18\/wp-content\/uploads\/sites\/160\/2026\/05\/image-7-1024x410.png\" alt=\"\" class=\"wp-image-153\" srcset=\"https:\/\/mscvprojects.ri.cmu.edu\/2026teamf18\/wp-content\/uploads\/sites\/160\/2026\/05\/image-7-1024x410.png 1024w, https:\/\/mscvprojects.ri.cmu.edu\/2026teamf18\/wp-content\/uploads\/sites\/160\/2026\/05\/image-7-300x120.png 300w, https:\/\/mscvprojects.ri.cmu.edu\/2026teamf18\/wp-content\/uploads\/sites\/160\/2026\/05\/image-7-768x307.png 768w, https:\/\/mscvprojects.ri.cmu.edu\/2026teamf18\/wp-content\/uploads\/sites\/160\/2026\/05\/image-7.png 1080w\" sizes=\"auto, (max-width: 706px) 89vw, (max-width: 767px) 82vw, 740px\" \/><\/figure>\n\n\n\n<p><\/p>\n\n\n\n<p><\/p>\n\n\n\n<h3 class=\"wp-block-heading\">Effect of Goal Conditioning<\/h3>\n\n\n\n<p>We compare policies with and without explicit goal conditioning. Goal conditioning provides the low-level controller with a structured 3D target for the hand, which helps guide contact formation and object manipulation.<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"499\" src=\"https:\/\/mscvprojects.ri.cmu.edu\/2026teamf18\/wp-content\/uploads\/sites\/160\/2026\/05\/image-8-1024x499.png\" alt=\"\" class=\"wp-image-154\" srcset=\"https:\/\/mscvprojects.ri.cmu.edu\/2026teamf18\/wp-content\/uploads\/sites\/160\/2026\/05\/image-8-1024x499.png 1024w, https:\/\/mscvprojects.ri.cmu.edu\/2026teamf18\/wp-content\/uploads\/sites\/160\/2026\/05\/image-8-300x146.png 300w, https:\/\/mscvprojects.ri.cmu.edu\/2026teamf18\/wp-content\/uploads\/sites\/160\/2026\/05\/image-8-768x374.png 768w, https:\/\/mscvprojects.ri.cmu.edu\/2026teamf18\/wp-content\/uploads\/sites\/160\/2026\/05\/image-8.png 1103w\" sizes=\"auto, (max-width: 706px) 89vw, (max-width: 767px) 82vw, 740px\" \/><\/figure>\n\n\n\n<h5 class=\"wp-block-heading\">References<\/h5>\n\n\n<p>[1] Bao, Chen, Helin Xu, Yuzhe Qin, and Xiaolong Wang. \u201cDexArt: Benchmarking Generalizable Dexterous Manipulation with Articulated Objects.\u201d <em>Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition<\/em>, 2023. https:\/\/arxiv.org\/abs\/2305.05706<\/p>","protected":false},"excerpt":{"rendered":"<p>Task Setting We evaluate the framework on dexterous manipulation tasks in simulation. The main tasks include DexArt Bucket and Laptop, with an additional Spray Bottle task used to test the method on a new object interaction setting. Goal Representation Ablation We compare different 3D hand goal representations on the Bucket task. This ablation studies the &hellip; <\/p>\n<p class=\"link-more\"><a href=\"https:\/\/mscvprojects.ri.cmu.edu\/2026teamf18\/experiments\/\" class=\"more-link\">Continue reading<span class=\"screen-reader-text\"> &#8220;Experiment&#8221;<\/span><\/a><\/p>\n","protected":false},"author":306,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-84","page","type-page","status-publish","hentry"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v28.1 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Experiment - Goal Conditioning for 3D Dexterous Manipulation Tasks<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/mscvprojects.ri.cmu.edu\/2026teamf18\/experiments\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Experiment - Goal Conditioning for 3D Dexterous Manipulation Tasks\" \/>\n<meta property=\"og:description\" content=\"Task Setting We evaluate the framework on dexterous manipulation tasks in simulation. The main tasks include DexArt Bucket and Laptop, with an additional Spray Bottle task used to test the method on a new object interaction setting. Goal Representation Ablation We compare different 3D hand goal representations on the Bucket task. This ablation studies the &hellip; Continue reading &quot;Experiment&quot;\" \/>\n<meta property=\"og:url\" content=\"https:\/\/mscvprojects.ri.cmu.edu\/2026teamf18\/experiments\/\" \/>\n<meta property=\"og:site_name\" content=\"Goal Conditioning for 3D Dexterous Manipulation Tasks\" \/>\n<meta property=\"article:modified_time\" content=\"2026-08-26T19:10:29+00:00\" \/>\n<meta property=\"og:image\" content=\"https:\/\/mscvprojects.ri.cmu.edu\/2026teamf18\/wp-content\/uploads\/sites\/160\/2026\/05\/image-6.png\" \/>\n\t<meta property=\"og:image:width\" content=\"968\" \/>\n\t<meta property=\"og:image:height\" content=\"521\" \/>\n\t<meta property=\"og:image:type\" content=\"image\/png\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"Est. reading time\" \/>\n\t<meta name=\"twitter:data1\" content=\"2 minutes\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\\\/\\\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2026teamf18\\\/experiments\\\/\",\"url\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2026teamf18\\\/experiments\\\/\",\"name\":\"Experiment - Goal Conditioning for 3D Dexterous Manipulation Tasks\",\"isPartOf\":{\"@id\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2026teamf18\\\/#website\"},\"primaryImageOfPage\":{\"@id\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2026teamf18\\\/experiments\\\/#primaryimage\"},\"image\":{\"@id\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2026teamf18\\\/experiments\\\/#primaryimage\"},\"thumbnailUrl\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2026teamf18\\\/wp-content\\\/uploads\\\/sites\\\/160\\\/2026\\\/05\\\/image-6.png\",\"datePublished\":\"2026-05-08T03:23:04+00:00\",\"dateModified\":\"2026-08-26T19:10:29+00:00\",\"breadcrumb\":{\"@id\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2026teamf18\\\/experiments\\\/#breadcrumb\"},\"inLanguage\":\"en-US\",\"potentialAction\":[{\"@type\":\"ReadAction\",\"target\":[\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2026teamf18\\\/experiments\\\/\"]}]},{\"@type\":\"ImageObject\",\"inLanguage\":\"en-US\",\"@id\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2026teamf18\\\/experiments\\\/#primaryimage\",\"url\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2026teamf18\\\/wp-content\\\/uploads\\\/sites\\\/160\\\/2026\\\/05\\\/image-6.png\",\"contentUrl\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2026teamf18\\\/wp-content\\\/uploads\\\/sites\\\/160\\\/2026\\\/05\\\/image-6.png\",\"width\":968,\"height\":521},{\"@type\":\"BreadcrumbList\",\"@id\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2026teamf18\\\/experiments\\\/#breadcrumb\",\"itemListElement\":[{\"@type\":\"ListItem\",\"position\":1,\"name\":\"Home\",\"item\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2026teamf18\\\/\"},{\"@type\":\"ListItem\",\"position\":2,\"name\":\"Experiment\"}]},{\"@type\":\"WebSite\",\"@id\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2026teamf18\\\/#website\",\"url\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2026teamf18\\\/\",\"name\":\"Goal Conditioning for 3D Dexterous Manipulation Tasks\",\"description\":\"Xinyu Liu, Advisor: David Held | Robotics Institute, Carnegie Mellon University\",\"potentialAction\":[{\"@type\":\"SearchAction\",\"target\":{\"@type\":\"EntryPoint\",\"urlTemplate\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2026teamf18\\\/?s={search_term_string}\"},\"query-input\":{\"@type\":\"PropertyValueSpecification\",\"valueRequired\":true,\"valueName\":\"search_term_string\"}}],\"inLanguage\":\"en-US\"}]}<\/script>\n<!-- \/ Yoast SEO plugin. -->","yoast_head_json":{"title":"Experiment - Goal Conditioning for 3D Dexterous Manipulation Tasks","robots":{"index":"index","follow":"follow","max-snippet":"max-snippet:-1","max-image-preview":"max-image-preview:large","max-video-preview":"max-video-preview:-1"},"canonical":"https:\/\/mscvprojects.ri.cmu.edu\/2026teamf18\/experiments\/","og_locale":"en_US","og_type":"article","og_title":"Experiment - Goal Conditioning for 3D Dexterous Manipulation Tasks","og_description":"Task Setting We evaluate the framework on dexterous manipulation tasks in simulation. 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