3 papers
cs.RO2026
FACTR 2: Learning External Force Sensing for Commodity Robot Arms Improves Policy Learning
Steven Oh, Jason Jingzhou Liu, Tony Tao +5
Contact-rich manipulation requires force sensitivity, but many robot arms lack dedicated force sensors due to their high cost. We present Neural External Torque Estimation (NEXT),…
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…
cs.RO2025
Focused Blind Switching Manipulation Based on Constrained and Regional Touch States of Multi-Fingered Hand Using Deep Learning
Satoshi Funabashi, Atsumu Hiramoto, Naoya Chiba +3
To achieve a desired grasping posture (including object position and orientation), multi-finger motions need to be conducted according to the the current touch state. Specifically,…