Recent studies have made significant progress in addressing dexterous manipulation problems, particularly in in-hand object reorientation. However, there are few existing works that explore the potential utilization of developed dexterous manipulation controllers for downstream tasks. In this study, we focus on constrained dexterous manipulation for food peeling. Food peeling presents various constraints on the reorientation controller, such as the requirement for the hand to securely hold the object after reorientation for peeling. We propose a simple system for learning a reorientation controller that facilitates the subsequent peeling task. Videos are available at: https://taochenshh.github.io/projects/veg-peeling.

翻译：近期研究在解决灵巧操作问题，尤其是手内物体重定向方面取得了显著进展。然而，现有工作中鲜有探索已开发的灵巧操作控制器在下游任务中的潜在应用。本研究聚焦于食物削皮场景下的受限灵巧操作。食物削皮对重定向控制器提出了多重约束，例如要求手部在重定向后能稳固持握物体以进行削皮。我们提出了一种学习重定向控制器的简易系统，该系统有助于后续削皮任务的执行。演示视频可见：https://taochenshh.github.io/projects/veg-peeling。