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cs.RO2026
Geometry-Aware Reinforcement Learning for Close-Fitting Wearable Insertion
Takuma Tsukakoshi, Elle Miller, Tamon Miyake +5
Robot-assisted dressing is particularly challenging due to narrow openings and articulated body parts. Even small errors in the relative pose between the body part and garment open…
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…