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cs.RO2026
DexDrummer: In-Hand, Contact-Rich, and Long-Horizon Dexterous Robot Drumming
Hung-Chieh Fang, Amber Xie, Jennifer Grannen +2
Performing in-hand, contact-rich, and long-horizon dexterous manipulation remains an unsolved challenge in robotics. Prior hand dexterity works have considered each of these three…
cs.RO2026
HandelBot: Real-World Piano Playing via Fast Adaptation of Dexterous Robot Policies
Amber Xie, Haozhi Qi, Dorsa Sadigh
Mastering dexterous manipulation with multi-fingered hands has been a grand challenge in robotics for decades. Despite its potential, the difficulty of collecting high-quality data…