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cs.RO2025
AVO: Amortized Value Optimization for Contact Mode Switching in Multi-Finger Manipulation
Adam Hung, Fan Yang, Abhinav Kumar +4
Dexterous manipulation tasks often require switching between different contact modes, such as rolling, sliding, sticking, or non-contact contact modes. When formulating dexterous m…
cs.RO2025
Diffusing Trajectory Optimization Problems for Recovery During Multi-Finger Manipulation
Abhinav Kumar, Fan Yang, Sergio Aguilera Marinovic +3
Multi-fingered hands are emerging as powerful platforms for performing fine manipulation tasks, including tool use. However, environmental perturbations or execution errors can imp…
cs.RO2025
CADRE: Dynamic Catching via Implicit Contact Descriptors and Task-Appropriate Recovery Affordances
Fan Yang, Zixuan Huang, Abhinav Kumar +4
Real-world dexterous manipulation often encounters unexpected errors and disturbances, which can lead to catastrophic failures, such as dropping the manipulated object. To address…