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cs.RO2026
PACT: Posture-Aligned Co-Design Technique for Hand Configuration and Retargeting in Multi-Finger Imitation Learning
Koyo Sasazaki, Satoshi Funabashi, Pranav Ponnivalavan +3
The fidelity of teleoperated demonstrations used for imitation learning is determined by how faithfully a robot hand can replicate the operator's posture. The posture retargeting l…
cs.RO2026
TaSA: Two-Phased Deep Predictive Learning of Tactile Sensory Attenuation for Improving In-Grasp Manipulation
Pranav Ponnivalavan, Satoshi Funabashi, Alexander Schmitz +2
Humans can achieve diverse in-hand manipulations, such as object pinching and tool use, which often involve simultaneous contact between the object and multiple fingers. This is st…