2 papers
cs.RO2026
Robust In-Hand Manipulation via Priors in Reinforcement Learning and Mechanical Design
Yifei Chen, Shihan Lu, Ed Colgate +1
In-hand manipulation without external sensing is challenging due to uncertainties from finger-object contacts and disturbances by gravity. While reinforcement learning has shown pr…
cs.RO2026
Compliant In-hand Rolling Manipulation Using Tactile Sensing
Huan Weng, Yifei Chen, Kevin M. Lynch
We investigate in-hand rolling manipulation using a multifingered robot hand, where each finger is compliant and equipped with a tactile fingertip providing contact location and wr…