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cs.RO2026
When Does Touch Matter? Charting the Vision-Interaction Gap in Cluttered Dexterous Grasping
Hao Jiang, Luis Dominguez, Daniel Seita
Dexterous grasping in clutter poses a basic sensing question: when do tactile measurements and external wrench estimates improve on visual geometry? Occlusion and contact can obscu…
cs.RO2026
Concurrent Prehensile and Nonprehensile Manipulation: A Practical Approach to Multi-Stage Dexterous Tasks
Hao Jiang, Yue Wu, Yue Wang +2
Dexterous hands enable concurrent prehensile and nonprehensile manipulation, such as holding one object while interacting with another, a capability essential for everyday tasks ye…