fingertip design 1grasp analysis 1in-hand manipulation 1reinforcement learning 1sim-to-real transfer 1
From the 1 of 2 linked papers with an AI index.
2 papers
cs.RO2026
Robust In-Hand Manipulation via Priors in Reinforcement Learning and Mechanical Design
Yifei Chen, Shihan Lu, Ed Colgate +1
The paper proposes using physics-based priors—one for grasp quality and another for fingertip geometry—to improve reinforcement‑learning‑based in‑hand manipulation on a robotic han…
cs.RO2026
Compliant In-hand Rolling Manipulation Using Tactile Sensing
Huan Weng, Yifei Chen, Kevin M. Lynch
We investigate in-hand rolling manipulation using a multifingered robot hand, where each finger is compliant and equipped with a tactile fingertip providing contact location and wr…