3 papers
cs.RO2026
DexFuture: Hierarchical Future-State Visuomotor Targeting for Bimanual Dexterous Tool Use
Runfa Blark Li, Kuang-Ting Tu, Nikola Raicevic +6
Bimanual dexterous tool use remains challenging for robots due to high-dimensional hand configurations and complex hand-tool-object dynamics and contact. Most existing control poli…
cs.RO2026
Object-Informed Model Predictive Path Integral Control for Non-Prehensile Robot Manipulation
Nikola Raicevic, Bharath Raam Radhakrishnan, Chenbin Yu +2
Long-horizon planning for non-prehensile robot manipulation is challenging due to underactuated and discontinuous interactions. We propose a hierarchical formulation of model predi…
cs.RO2026
PhysGraph: Physically-Grounded Graph-Transformer Policies for Bimanual Dexterous Hand-Tool-Object Manipulation
Runfa Blark Li, David Kim, Xinshuang Liu +7
Bimanual dexterous manipulation for tool use remains a formidable challenge in robotics due to the high-dimensional state space and complicated contact dynamics. Existing methods n…