From the 1 of 21 linked papers with an AI index.
21 papers
Smooth Operator: A Real-Time Sampling-Based Algorithm for Kinematic Hand Retargeting
Robert Jomar Malate, Erik Bauer, Norica Bacuieti +4
The paper presents a gradient‑free, sampling‑based algorithm (SBR) for real‑time kinematic hand retargeting that reduces jitter and improves teleoperation data quality, validated t…
RAPTOR: Rapid Aerial Pickup and Transport of Objects by Robots
Aurel Appius, Erik Bauer, Marc Blöchlinger +7
Rapid aerial grasping through robots can lead to many applications that utilize fast and dynamic picking and placing of objects. Rigid grippers traditionally used in aerial manipul…
SERNF: Sample-Efficient Real-World Dexterous Policy Fine-Tuning via Action-Chunked Critics and Normalizing Flows
Chenyu Yang, Denis Tarasov, Davide Liconti +3
Real-world fine-tuning of dexterous manipulation policies remains challenging due to limited real-world interaction budgets and highly multimodal action distributions. Diffusion-ba…
Learning Robust Dexterous In-Hand Manipulation from Joint Sensors with Proprioceptive Transformer
Senlan Yao, Chenyu Yang, Jaehoon Kim +2
In-hand object manipulation is a fundamental yet challenging capability for dexterous robots. Despite significant progress in dexterous manipulation, existing approaches rely heavi…
High-Speed, Scalable Sensor Readout for Dexterous Robotic Hands via Shift-Register Multiplexing
Jaehoon Kim, Lazaros Christoforidis, Michalis Papadakis +2
Dexterous robotic hands require high-speed multimodal sensing across many degrees of freedom, yet existing readout architectures often impose trade-offs between sensor count, wirin…
A Benchmark of Dexterity for Anthropomorphic Robotic Hands
Davide Liconti, Yuning Zhou, Yasunori Toshimitsu +2
Dexterity is a central yet ambiguously defined concept in the design and evaluation of anthropomorphic robotic hands. In practice, the term is often used inconsistently, with diffe…