具身智能 · 全部实体（第 85 / 100 页）

本页收录第 8401–8500 条，共 10000 条 · 返回 具身智能 首页

• Stable Tracking-in-the-Loop Control of Cable-Driven RCM Surgical Manipulators under Erroneous Kinematic Chains.
  europepmc 2026 置信度 0.80
• A bionic robotic trunk with tensegrity-enabled elephant-comparable stiffness variability for assisted daily living.
  europepmc 2026 置信度 0.80
• High-Degree-of-Freedom Fabric-Based Soft Glove with Dexterous Thumb Assistance.
  europepmc 2026 置信度 0.80
• A generic high-dexterity soft neuroprosthetic hand for daily activities
  europepmc 2026 置信度 0.80
• Generalization of finger-joint kinematics for cleaning tasks.
  europepmc 2026 置信度 0.80
• Stiffness enhanced reconfigurable soft hand for versatile stable grasps and in-hand manipulation.
  europepmc 2026 置信度 0.80
• Multimodal Deformation in Tensegrity Manipulators: Preprogrammable Bend-Twist Modules for Dexterous Grasping Inspired by Elephant Trunks.
  europepmc 2026 置信度 0.80
• Effects of carpal tunnel syndrome on dexterous manipulation are grip type-dependent.
  europepmc 2013 置信度 0.80
• Spatiotemporal encoding of touch signals in the human somatosensory and motor cortices
  europepmc 2026 置信度 0.80
• Effects of visual cues of object density on perception and anticipatory control of dexterous manipulation.
  europepmc 2013 置信度 0.80
• Precise and dexterous robotic manipulation via human-in-the-loop reinforcement learning.
  europepmc 2025 置信度 0.80
• Design an anthropomorphic dexterous hand for expressive piano performance.
  Expressive piano performance poses extreme challenges for robotic manipulation, necessitating high-speed repetitive impacts, substantial force output, and coordinated multi-joint control under stringent dynamic constraints. However, existing robotic systems ex…
  pubmed Liang Y, Liu X, Yuan Y, Su C 等 2026 置信度 0.82
• Visual-tactile pretraining and online multitask learning for humanlike manipulation dexterity.
  europepmc 2026 置信度 0.80
• A comprehensive review of dexterous robotic hands: design, implementation, and evaluation.
  europepmc 2025 置信度 0.80
• Beyond grip strength: selective slowing of grip force release but not initiation dynamics in a go/no-go target force-matching task.
  europepmc 2026 置信度 0.80
• Robotic Manipulation with Reinforcement Learning, State Representation Learning, and Imitation Learning
  europepmc 2025 置信度 0.80
• Opportunities challenges and roadmap for humanoid robots in construction.
  europepmc 2025 置信度 0.80
• Predictive tactile coding in a memristive neuromorphic tactile system
  Abstract Flexible tactile electronics have progressed rapidly in wearable electronics, electronic skin, tactile sensing materials and neuromorphic sensory devices, yet most artificial touch systems still interpret contact only after the signal has already been…
  europepmc 2026 置信度 0.80
• An Adaptive Grasping Multi-Degree-of-Freedom Prosthetic Hand with a Rigid-Flexible Coupling Structure.
  europepmc 2025 置信度 0.80
• A Dexterous Reorientation Strategy for Precision Picking of Large Thin Objects.
  europepmc 2025 置信度 0.80
• Somatosensory-Driven Perception in Embodied Systems for Hand-Object Interaction
  Abstract Somatosensation is a powerful perceptual modality that enables accurate and robust sensing in challenging scenarios. It allows blind individuals to explore their surroundings with a white cane in darkness and assists surgeons who operate with a scalpe…
  europepmc 2025 置信度 0.80
• A cortical circuit for orchestrating oromanual food manipulation.
  europepmc 2026 置信度 0.80
• Learning contact-rich whole-body manipulation with example-guided reinforcement learning.
  europepmc 2025 置信度 0.80
• Hand-held multi-DOF robotic forceps for neurosurgery designed for dexterous manipulation in deep and narrow space.
  europepmc 2014 置信度 0.80
• Restoring Noisy Demonstration for Imitation Learning With Diffusion Models.
  europepmc 2026 置信度 0.80
• An 18-DOF hand integrating force-position multimodal perception using a monocular camera.
  europepmc 2025 置信度 0.80
• Effect of simple motor exercise on motor adaptation in complex dynamic tasks: exploring age-related variations.
  europepmc 2025 置信度 0.80
• Design of a Hierarchical Control Architecture for Fully-Driven Multi-Fingered Dexterous Hand.
  europepmc 2025 置信度 0.80
• Deep learning-enabled versatile shape perception for soft robots via single-ended multimode fiber.
  The evolution of soft robots into embodied intelligent systems relies fundamentally on precise proprioception. However, a universal solution for capturing continuous deformations during diverse interactions, particularly in spatially confined interventional sc…
  europepmc 2026 置信度 0.80
• Data-Driven Twisted String Actuation for Lightweight and Compliant Anthropomorphic Dexterous Hands.
  europepmc 2025 置信度 0.80
• A detachable crawling robotic hand.
  europepmc 2026 置信度 0.80
• Design and Miniaturization of an Ultra-Fine Multi-Degree-of-Freedom Robotic Instrument for Ophthalmic Minimally Invasive Microsurgery
  europepmc 2026 置信度 0.80
• Design Principle of a Dual-Actuated Robotic Hand With Anthropomorphic Self-Adaptive Grasping and Dexterous Manipulation Abilities
  How to use few actuators to endow a multifingered robotic hand with the human grasping and manipulation abilities is a challenging problem. This article develops a design principle of a five-fingered robotic hand with only two actuators, which guarantees the d…
  openalex Bai-Yang Sun, Xuan Gong, Jiejunyi Liang, Wenbin Chen 等 2021-12-30 置信度 0.72 GRASPThumbActuatorMechanism (biology)Computer science
• A measurement model for tracking hand-object state during dexterous manipulation
  It is frequently accepted in the manipulation literature that tactile sensing is needed to improve the precision of robot manipulation. However, there is no consensus on how this may be achieved. This paper applies particle filtering to the problem of localizi…
  openalex Craig Corcoran, Robert W. Platt 2010-05-01 置信度 0.72 Object (grammar)Computer visionArtificial intelligenceRobotComputer science
• ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulation
  Humans intuitively understand that inanimate objects do not move by themselves, but that state changes are typically caused by human manipulation (e.g., the opening of a book). This is not yet the case for machines. In part this is because there exist no datas…
  openalex Zicong Fan, Omid Taheri, Dimitrios Tzionas, Muhammed Kocabas 等 2023-06-01 置信度 0.72 Computer scienceObject (grammar)Computer visionArtificial intelligenceGround truth
• Towards Human-Level Bimanual Dexterous Manipulation with Reinforcement Learning
  Achieving human-level dexterity is an important open problem in robotics. However, tasks of dexterous hand manipulation, even at the baby level, are challenging to solve through reinforcement learning (RL). The difficulty lies in the high degrees of freedom an…
  openalex Yuanpei Chen, Tianhao Wu, Shengjie Wang, Xidong Feng 等 2022-06-17 置信度 0.72 Reinforcement learningTask (project management)Computer scienceBenchmark (surveying)Artificial intelligence
• Contact Mode Guided Sampling-Based Planning for Quasistatic Dexterous Manipulation in 2D
  The discontinuities and multi-modality introduced by contacts make manipulation planning challenging. Many previous works avoid this problem by pre-designing a set of high-level motion primitives like grasping and pushing. However, such motion primitives are o…
  openalex Xianyi Cheng, Eric Huang, Yifan Hou, Matthew T. Mason 2021-05-30 置信度 0.72 Quasistatic processClassification of discontinuitiesMotion (physics)Computer scienceSet (abstract data type)
• Bioinspired Soft Wrist Based on Multicable Jamming With Hybrid Motion and Stiffness Control for Dexterous Manipulation
  Dexterous manipulation is important for modern logistics automation. Industrial robots remain inferior to human labor in this area, especially in handling unknown objects in unstructured scenarios. It is observed that the human wrist contributes significantly …
  openalex Jianshu Zhou, Hanwen Cao, Wei Chen, Shing Shin Cheng 等 2022-12-02 置信度 0.72 StiffnessRobotWristBiomimeticsComputer science
• Visual and Tactile Guidance of Dexterous Manipulation Tasks: An fMRI Study
  Models of motor guidance that dynamically adjust to the availability and quality of sensory information are based on the observation that dexterous tasks are routinely performed using various combinations of visual and tactile inputs. However, a dynamic neural…
  openalex Ardesheer Talati, Francisco J. Valero‐Cuevas, Joy Hirsch 2005-08-01 置信度 0.72 Postcentral gyrusFunctional magnetic resonance imagingInferior parietal lobuleSomatosensory systemPsychology
• Real-Time Finger Gaits Planning for Dexterous Manipulation
  Dexterous manipulation has broad potential applications in assembly lines, warehouses and agriculture, and so on. To perform large-scale, complicated manipulation tasks, a multi-fingered robotic hand sometimes has to sequentially adjust its grasping status, i.…
  openalex Yongxiang Fan, Wei Gao, Wenjie Chen, Masayoshi Tomizuka 2017-07-01 置信度 0.72 WorkspaceGRASPController (irrigation)KinematicsImpedance control
• Anticipatory Planning and Control of Grasp Positions and Forces for Dexterous Two-Digit Manipulation
  Dexterous object manipulation requires anticipatory control of digit positions and forces. Despite extensive studies on sensorimotor learning of digit forces, how humans learn to coordinate digit positions and forces has never been addressed. Furthermore, the …
  openalex Qiushi Fu, Wei Zhang, Marco Santello 2010-07-07 置信度 0.72 Numerical digitGRASPObject (grammar)KinematicsComputer science
• Generalization in Dexterous Manipulation via Geometry-Aware Multi-Task Learning
  Dexterous manipulation of arbitrary objects, a fundamental daily task for humans, has been a grand challenge for autonomous robotic systems. Although data-driven approaches using reinforcement learning can develop specialist policies that discover behaviors to…
  openalex Wenlong Huang, Igor Mordatch, Pieter Abbeel, Deepak Pathak 2021-11-04 置信度 0.72 GeneralizationTask (project management)Reinforcement learningObject (grammar)Computer science
• BCL-13: A 13-DOF Soft Robotic Hand for Dexterous Grasping and In-Hand Manipulation
  This letter presents a dexterous soft robotic hand, BCL-13, with 4 fingers and 13 independently actuated joints capable of in-hand manipulation. The iconic dexterity is enabled by a novel soft robotic finger design with three degrees of freedom (DOFs), signifi…
  openalex Jianshu Zhou, Juan Yi, Xiaojiao Chen, Zixie Liu 等 2018-06-28 置信度 0.72 WorkspaceRobotic handActuatorSoft roboticsComputer science
• Fine motion planning for dexterous manipulation
  This thesis investigates the problem of dexterous manipulation; how can robots affect the world around them by means of their end-effectors? Dexterous manipulation is fundamental to robots operating intelligently and independently in their environments and it …
  openalex Daniela Rus 1992-01-01 置信度 0.72 Object (grammar)RobotMotion (physics)Computer scienceDomain (mathematical analysis)
• Learning Dexterous Manipulation from Exemplar Object Trajectories and Pre-Grasps
  Learning diverse dexterous manipulation behaviors with assorted objects remains an open grand challenge. While policy learning methods offer a powerful avenue to attack this problem, these approaches require extensive per-task engineering and algorithmic tunin…
  openalex Sudeep Dasari, Abhinav Gupta, Vikash Kumar 2023-05-29 置信度 0.72 GRASPComputer scienceTask (project management)Artificial intelligenceObject (grammar)
• Leveraging Kernelized Synergies on Shared Subspace for Precision Grasping and Dexterous Manipulation
  Manipulation in contrast to grasping is a trajectorial task that needs to use dexterous hands. Improving the dexterity of robot hands increases the controller complexity and thus requires to use the concept of postural synergies. Inspired from postural synergi…
  openalex Sunny Katyara, Fanny Ficuciello, Darwin G. Caldwell, Bruno Siciliano 等 2021-09-06 置信度 0.72 Computer scienceGRASPHuman–computer interactionArtificial intelligenceUsability
• A review on sensory perception for dexterous robotic manipulation
  Sensory perception for dexterous robotic hands is an active research area and recent progress in robotics. Effective dexterous manipulation requires robotic hands to accurately feedback their state or perceive the surrounding environment. This article reviews …
  openalex Ziwei Xia, Zhen Deng, Bin Fang, Yiyong Yang 等 2022-03-01 置信度 0.72 PerceptionComputer scienceHuman–computer interactionSensory systemRobotics
• TrajectoTree: Trajectory Optimization Meets Tree Search for Planning Multi-contact Dexterous Manipulation
  Dexterous manipulation tasks often require contact switching, where fingers make and break contact with the object. We propose a method that plans trajectories for dexterous manipulation tasks involving contact switching using contact-implicit trajectory optim…
  openalex Claire Chen, Preston Culbertson, Marion Lepert, Mac Schwager 等 2021-09-27 置信度 0.72 TrajectoryComputer scienceObject (grammar)Sequence (biology)Trajectory optimization
• Dexterous manipulation planning of objects with surface of revolution
  In this paper, we propose a novel method for dexterous manipulation planning problem of rotating object with surface of revolution using a robotic multi-fingered hand. This method finds contact point trajectories from contact points between the robotic hand an…
  openalex Zhixing Xue, J. Marius Zöllner, Ruediger Dillmann 2008-09-01 置信度 0.72 Computer visionComputer scienceArtificial intelligenceRobotic handThread (computing)
• A parallel robots framework to study precision grasping and dexterous manipulation
  Dexterous, within-hand manipulation, in which an object generally held in the fingertips is manipulated by the fingers, shares many similarities to parallel robot configurations. This paper shows how to apply a mathematical framework commonly used for parallel…
  openalex Júlia Borràs, Aaron M. Dollar 2013-05-01 置信度 0.72 UnderactuationWorkspaceGRASPComputer scienceKinematics
• Hybrid control of multi-fingered robot hand for dexterous manipulation
  Human hand can not only catch and grasp the complex objects but also easily manipulate the objects by switching various types of interactions. Research on the basic mechanics and control principles of hand's dexterous manipulation abilities is one of the most …
  openalex Yingjie Yin, Zhiwei Luo, Mikhail Svinin, S. Hosoe 2004-04-23 置信度 0.72 GRASPComputer scienceRobot handRobotic handRobot
• State-Only Imitation Learning for Dexterous Manipulation
  Modern model-free reinforcement learning methods have recently demonstrated impressive results on a number of problems. However, complex domains like dexterous manipulation remain a challenge due to the high sample complexity. To address this, current approach…
  openalex Ilija Radosavovic, Xiaolong Wang, Lerrel Pinto, Jitendra Malik 2021-09-27 置信度 0.72 ImitationComputer scienceAction (physics)Artificial intelligenceInverse dynamics
• Dexterous Cable Manipulation: Taxonomy, Multi-Fingered Hand Design, and Long-Horizon Manipulation
  Existing research that addressed cable manipulation relied on two-fingered grippers, which make it difficult to perform similar cable manipulation tasks that humans perform. However, unlike dexterous manipulation of rigid objects, the development of dexterous …
  arxiv Sun Zhaole, Xiao Gao, Xiaofeng Mao, Jihong Zhu 等 2025-02-01T11:01:42Z 置信度 0.78 cs.RO
• Aerial Mobile Manipulator System to Enable Dexterous Manipulations with Increased Precision
  Problems associated with physical interactions using aerial mobile manipulators (AMM) are being independently addressed with respect to mobility and manipulability. Multirotor unmanned aerial vehicles (UAV) are a common choice for mobility while on-board manip…
  arxiv Abbaraju Praveen, Haoguang Yang, Hyukjun Jang, Richard M Voyles 2020-10-19T15:57:46Z 置信度 0.78 cs.ROeess.SY
• DEFT: Dexterous Fine-Tuning for Real-World Hand Policies
  Dexterity is often seen as a cornerstone of complex manipulation. Humans are able to perform a host of skills with their hands, from making food to operating tools. In this paper, we investigate these challenges, especially in the case of soft, deformable obje…
  arxiv Aditya Kannan, Kenneth Shaw, Shikhar Bahl, Pragna Mannam 等 2023-10-30T17:59:35Z 置信度 0.78 cs.ROcs.AIcs.CVcs.LG
• HANDO: Hierarchical Autonomous Navigation and Dexterous Omni-loco-manipulation
  Seamless loco-manipulation in unstructured environments requires robots to leverage autonomous exploration alongside whole-body control for physical interaction. In this work, we introduce HANDO (Hierarchical Autonomous Navigation and Dexterous Omni-loco-manip…
  arxiv Jingyuan Sun, Chaoran Wang, Mingyu Zhang, Cui Miao 等 2025-10-10T10:04:30Z 置信度 0.78 cs.RO
• TypeTele: Releasing Dexterity in Teleoperation by Dexterous Manipulation Types
  Dexterous teleoperation plays a crucial role in robotic manipulation for real-world data collection and remote robot control. Previous dexterous teleoperation mostly relies on hand retargeting to closely mimic human hand postures. However, these approaches may…
  arxiv Yuhao Lin, Yi-Lin Wei, Haoran Liao, Mu Lin 等 2025-07-02T16:16:39Z 置信度 0.78 cs.RO
• Planning for Dexterous Ungrasping: Secure Ungrasping through Dexterous Manipulation
  This paper presents a robotic manipulation technique for dexterous ungrasping. It refers to the capability of securely transferring a grasped object from the gripper to the robot's environment, i.e. the inverse of grasping or picking, through dexterous manipul…
  arxiv Chung Hee Kim, Ka Hei Mak, Jungwon Seo 2021-08-31T01:57:14Z 置信度 0.78 cs.RO
• Dexterous Manipulation through Imitation Learning: A Survey
  Dexterous manipulation, which refers to the ability of a robotic hand or multi-fingered end-effector to skillfully control, reorient, and manipulate objects through precise, coordinated finger movements and adaptive force modulation, enables complex interactio…
  arxiv Shan An, Ziyu Meng, Chao Tang, Yuning Zhou 等 2025-04-04T15:14:38Z 置信度 0.78 cs.ROcs.LG
• Dexterous Manipulation Based on Prior Dexterous Grasp Pose Knowledge
  Dexterous manipulation has received considerable attention in recent research. Predominantly, existing studies have concentrated on reinforcement learning methods to address the substantial degrees of freedom in hand movements. Nonetheless, these methods typic…
  arxiv Hengxu Yan, Haoshu Fang, Cewu Lu 2024-12-20T05:46:29Z 置信度 0.78 cs.ROcs.LG
• Dexterous Manipulation Transfer via Progressive Kinematic-Dynamic Alignment
  The inherent difficulty and limited scalability of collecting manipulation data using multi-fingered robot hand hardware platforms have resulted in severe data scarcity, impeding research on data-driven dexterous manipulation policy learning. To address this c…
  arxiv Wenbin Bai, Qiyu Chen, Xiangbo Lin, Jianwen Li 等 2025-11-14T06:20:26Z 置信度 0.78 cs.RO
• The Developments and Challenges towards Dexterous and Embodied Robotic Manipulation: A Survey
  Achieving human-like dexterous robotic manipulation remains a central goal and a pivotal challenge in robotics. The development of Artificial Intelligence (AI) has allowed rapid progress in robotic manipulation. This survey summarizes the evolution of robotic …
  arxiv Gaofeng Li, Ruize Wang, Peisen Xu, Qi Ye 等 2025-07-16T02:09:31Z 置信度 0.78 cs.RO
• Mana: Dexterous Manipulation of Articulated Tools
  Articulated tool manipulation remains a major challenge in dexterous robotics due to the need to coordinate internal degrees of freedom and contact-rich interactions. While prior work has largely focused on rigid objects, articulated tool use remains underexpl…
  arxiv Zhao-Heng Yin, Guanya Shi, Pieter Abbeel, C. Karen Liu 2026-06-11T17:59:49Z 置信度 0.78 cs.ROcs.AIcs.CVcs.LG
• DexJoCo: A Benchmark and Toolkit for Task-Oriented Dexterous Manipulation on MuJoCo
  Achieving human-level manipulation requires dexterous robotic hands capable of complex object interactions. Advancing such capabilities further demands standardized benchmarks for systematic evaluation. However, existing dexterous benchmarks lack tasks that re…
  arxiv Hanwen Wang, Weizhi Zhao, Xiangyu Wang, Siyuan Huang 等 2026-05-15T17:59:51Z 置信度 0.78 cs.RO
• Dexterous Non-Prehensile Manipulation for Ungraspable Object via Extrinsic Dexterity
  Objects with large base areas become ungraspable when they exceed the end-effector's maximum aperture. Existing approaches address this limitation through extrinsic dexterity, which exploits environmental features for non-prehensile manipulation. While gripper…
  arxiv Yuhan Wang, Yu Li, Yaodong Yang, Yuanpei Chen 2025-03-29T15:21:41Z 置信度 0.78 cs.RO
• Preserving Real-World Finger Dexterity Using a Lightweight Fingertip Haptic Device for Virtual Dexterous Manipulation
  This study presents a lightweight, wearable fingertip haptic device that provides physics-based haptic feedback for dexterous manipulation in virtual environments without hindering real-world interactions. The device's design utilizes thin strings and actuator…
  arxiv Yunxiu XU, Siyu Wang, Shoichi Hasegawa 2024-06-24T17:44:17Z 置信度 0.78 cs.HC
• HANDFUL: Sequential Grasp-Conditioned Dexterous Manipulation with Resource Awareness
  Dexterous robot hands offer rich opportunities for multifunctional manipulation, where a robot must execute multiple skills in sequence while maintaining control over previously grasped objects. Most prior work in dexterous manipulation focuses on single-objec…
  arxiv Ethan Foong, Yunshuang Li, Hao Jiang, Gaurav S. Sukhatme 等 2026-04-28T02:04:50Z 置信度 0.78 cs.RO
• Interactive Imitation Learning for Dexterous Robotic Manipulation: Challenges and Perspectives -- A Survey
  Dexterous manipulation is a crucial yet highly complex challenge in humanoid robotics, demanding precise, adaptable, and sample-efficient learning methods. As humanoid robots are usually designed to operate in human-centric environments and interact with every…
  arxiv Edgar Welte, Rania Rayyes 2025-05-30T12:19:32Z 置信度 0.78 cs.ROcs.LG
• Vegetable Peeling: A Case Study in Constrained Dexterous Manipulation
  Recent studies have made significant progress in addressing dexterous manipulation problems, particularly in in-hand object reorientation. However, there are few existing works that explore the potential utilization of developed dexterous manipulation controll…
  arxiv Tao Chen, Eric Cousineau, Naveen Kuppuswamy, Pulkit Agrawal 2024-07-10T17:51:33Z 置信度 0.78 cs.ROcs.AIcs.LGeess.SY
• A Bilateral Teleoperation Framework for Dexterous Manipulation
  Dexterous teleoperation requires precise arm-hand coordination, low-latency feedback, and robust interaction in real-world contact-rich environments. This paper presents a modular bilateral teleoperation framework that integrates operator-side input interfaces…
  arxiv Stefano Dalla Gasperina, Dong Ho Kang, Haiyun Zhang, Aldo Galvan 等 2026-06-13T18:54:35Z 置信度 0.78 cs.ROcs.HCeess.SY
• Tilde: Teleoperation for Dexterous In-Hand Manipulation Learning with a DeltaHand
  Dexterous robotic manipulation remains a challenging domain due to its strict demands for precision and robustness on both hardware and software. While dexterous robotic hands have demonstrated remarkable capabilities in complex tasks, efficiently learning ada…
  arxiv Zilin Si, Kevin Lee Zhang, Zeynep Temel, Oliver Kroemer 2024-05-29T06:47:34Z 置信度 0.78 cs.RO
• MyoDex: A Generalizable Prior for Dexterous Manipulation
  Human dexterity is a hallmark of motor control. Our hands can rapidly synthesize new behaviors despite the complexity (multi-articular and multi-joints, with 23 joints controlled by more than 40 muscles) of musculoskeletal sensory-motor circuits. In this work,…
  arxiv Vittorio Caggiano, Sudeep Dasari, Vikash Kumar 2023-09-06T16:10:49Z 置信度 0.78 cs.ROcs.AI
• MAPLE: Encoding Dexterous Robotic Manipulation Priors Learned From Egocentric Videos
  Large-scale egocentric video datasets capture diverse human activities across a wide range of scenarios, offering rich and detailed insights into how humans interact with objects, especially those that require fine-grained dexterous control. Such complex, dext…
  arxiv Alexey Gavryushin, Xi Wang, Robert J. S. Malate, Chenyu Yang 等 2025-04-08T14:25:25Z 置信度 0.78 cs.ROcs.CV
• DexHandDiff: Interaction-aware Diffusion Planning for Adaptive Dexterous Manipulation
  Dexterous manipulation with contact-rich interactions is crucial for advanced robotics. While recent diffusion-based planning approaches show promise for simple manipulation tasks, they often produce unrealistic ghost states (e.g., the object automatically mov…
  arxiv Zhixuan Liang, Yao Mu, Yixiao Wang, Tianxing Chen 等 2024-11-27T18:03:26Z 置信度 0.78 cs.ROcs.CVcs.LG
• UniHM: Unified Dexterous Hand Manipulation with Vision Language Model
  Planning physically feasible dexterous hand manipulation is a central challenge in robotic manipulation and Embodied AI. Prior work typically relies on object-centric cues or precise hand-object interaction sequences, foregoing the rich, compositional guidance…
  arxiv Zhenhao Zhang, Jiaxin Liu, Ye Shi, Jingya Wang 2026-02-28T16:37:11Z 置信度 0.78 cs.ROcs.CV
• A Dexterous and Compliant Gripper With Soft Hydraulic Actuation for Microgravity Manipulation
  Astrobee's existing one-degree-of-freedom (DOF) underactuated compliant claw gripper enables perching on the International Space Station (ISS), but provides limited capability for continuous dexterous manipulation. More complex microgravity tasks require an en…
  arxiv William Su, Jordan Kam, Yixiao Wang, Jianshu Zhou 2026-05-18T04:46:46Z 置信度 0.78 cs.RO
• Sequential Dexterity: Chaining Dexterous Policies for Long-Horizon Manipulation
  Many real-world manipulation tasks consist of a series of subtasks that are significantly different from one another. Such long-horizon, complex tasks highlight the potential of dexterous hands, which possess adaptability and versatility, capable of seamlessly…
  arxiv Yuanpei Chen, Chen Wang, Li Fei-Fei, C. Karen Liu 2023-09-02T16:55:48Z 置信度 0.78 cs.ROcs.AIcs.LG
• RealDexUMI: A Wearable Universal Manipulation Interface for Dexterous Robot Learning
  Learning dexterous manipulation requires demonstrations that preserve fine hand-object interactions while remaining executable at deployment. Existing pipelines either lose deployable dexterity through retargeting or embodiment conversion, or rely on robot-spe…
  arxiv Chaoyi Xu, Yixuan Jiang, Jiahui Huan, Yuhui Fu 等 2026-06-04T11:28:23Z 置信度 0.78 cs.RO
• RBO Hand 3 -- A Platform for Soft Dexterous Manipulation
  We present the RBO Hand 3, a highly capable and versatile anthropomorphic soft hand based on pneumatic actuation. The RBO Hand 3 is designed to enable dexterous manipulation, to facilitate transfer of insights about human dexterity, and to serve as a robust re…
  arxiv Steffen Puhlmann, Jason Harris, Oliver Brock 2022-01-26T11:54:03Z 置信度 0.78 cs.RO
• Tactile Dexterity: Manipulation Primitives with Tactile Feedback
  This paper develops closed-loop tactile controllers for dexterous robotic manipulation with a dual-palm robotic system. Tactile dexterity is an approach to dexterous manipulation that plans for robot/object interactions that render interpretable tactile inform…
  arxiv Francois R. Hogan, Jose Ballester, Siyuan Dong, Alberto Rodriguez 2020-02-08T21:50:03Z 置信度 0.78 cs.ROeess.SY
• Analyzing Key Objectives in Human-to-Robot Retargeting for Dexterous Manipulation
  Kinematic retargeting from human hands to robot hands is essential for transferring dexterity from humans to robots in manipulation teleoperation and imitation learning. However, due to mechanical differences between human and robot hands, completely reproduci…
  arxiv Chendong Xin, Mingrui Yu, Yongpeng Jiang, Zhefeng Zhang 等 2025-06-11T04:24:46Z 置信度 0.78 cs.RO
• Linear Delta Arrays for Compliant Dexterous Distributed Manipulation
  This paper presents a new type of distributed dexterous manipulator: delta arrays. Our delta array setup consists of 64 linearly-actuated delta robots with 3D-printed compliant linkages. Through the design of the individual delta robots, the modular array stru…
  arxiv Sarvesh Patil, Tony Tao, Tess Hellebrekers, Oliver Kroemer 等 2022-06-09T16:23:42Z 置信度 0.78 cs.ROcs.MAeess.SY
• OpenEgo: A Large-Scale Multimodal Egocentric Dataset for Dexterous Manipulation
  Egocentric human videos provide scalable demonstrations for imitation learning, but existing corpora often lack either fine-grained, temporally localized action descriptions or dexterous hand annotations. We introduce OpenEgo, a multimodal egocentric manipulat…
  arxiv Ahad Jawaid, Yu Xiang 2025-09-05T21:47:55Z 置信度 0.78 cs.CVcs.AIcs.RO
• V2P-Manip: Learning Dexterous Manipulation from Monocular Human Videos
  Achieving autonomous robotic dexterous manipulation requires precise, human-like action sequences at scale. As a scalable supplement to costly teleoperation data, extracting trajectories with both visual fidelity and physical plausibility from monocular videos…
  arxiv Kaihan Chen, Yanming Shao, Haifeng Ji, Xiaokang Yang 等 2026-06-15T09:08:11Z 置信度 0.78 cs.ROcs.CV
• RoboDexVLM: Visual Language Model-Enabled Task Planning and Motion Control for Dexterous Robot Manipulation
  This paper introduces RoboDexVLM, an innovative framework for robot task planning and grasp detection tailored for a collaborative manipulator equipped with a dexterous hand. Previous methods focus on simplified and limited manipulation tasks, which often negl…
  arxiv Haichao Liu, Sikai Guo, Pengfei Mai, Jiahang Cao 等 2025-03-03T14:49:52Z 置信度 0.78 cs.RO
• Learning Dexterous Manipulation with Quantized Hand State
  Dexterous robotic hands enable robots to perform complex manipulations that require fine-grained control and adaptability. Achieving such manipulation is challenging because the high degrees of freedom tightly couple hand and arm motions, making learning and c…
  arxiv Ying Feng, Hongjie Fang, Yinong He, Jingjing Chen 等 2025-09-22T07:44:17Z 置信度 0.78 cs.RO
• TactiDex: A Real-World Tactile-Guided Benchmark for Human-Like Dexterous Manipulation
  Tactile feedback is fundamental to Hand-Object Interaction (HOI), governing contact formation, force regulation, and stable manipulation, making it essential for achieving true human-like dexterous manipulation. Yet, current human-to-robot dexterous transfer p…
  arxiv Suting Ni, Hanbing Zhang, Zhenyu Wei, Guo Chen 等 2026-07-10T08:32:19Z 置信度 0.78 cs.RO
• DexFormer: Cross-Embodied Dexterous Manipulation via History-Conditioned Transformer
  Dexterous manipulation remains one of the most challenging problems in robotics, requiring coherent control of high-DoF hands and arms under complex, contact-rich dynamics. A major barrier is embodiment variability: different dexterous hands exhibit distinct k…
  arxiv Ke Zhang, Lixin Xu, Chengyi Song, Junzhe Xu 等 2026-02-09T05:16:48Z 置信度 0.78 cs.RO
• From Grasps to Dexterity: Large-Scale Grasp Pretraining for Dexterous Manipulation
  Large-scale dexterous grasp datasets encode rich priors over hand-object interaction, but their use has largely been confined to grasp generation and pick-and-place manipulation. We study whether such data can instead support functional dexterity in articulate…
  arxiv Ying Yuan, Xinyu Liu, Sriram Krishna, David Held 2026-06-29T18:00:22Z 置信度 0.78 cs.RO
• EaDex: A Cross-Embodiment Dexterous Manipulation Framework from Low-Cost Demonstrations
  Dexterous manipulation learning has long been hindered by the high costs of data and training, as pure reinforcement learning typically requires large-scale interactive exploration and imitation learning depends on high-quality demonstrations that are expensiv…
  arxiv Qian Zhao, Xin Tong, Chengdong Wu, Yang Yang 等 2026-06-02T07:35:18Z 置信度 0.78 cs.RO
• DexVerse: A Modular Benchmark for Multi-Task, Multi-Embodiment Dexterous Manipulation
  Building general-purpose dexterous manipulation policies requires benchmarks that go beyond isolated tasks to systematically evaluate policies across diverse interaction modes, sensory conditions, and robot embodiments. However, existing benchmarks remain limi…
  arxiv Yunchao Yao, Zhuxiu Xu, Tianqi Zhang, Zixian Liu 等 2026-07-09T17:50:47Z 置信度 0.78 cs.RO
• DexGarmentLab: Dexterous Garment Manipulation Environment with Generalizable Policy
  Garment manipulation is a critical challenge due to the diversity in garment categories, geometries, and deformations. Despite this, humans can effortlessly handle garments, thanks to the dexterity of our hands. However, existing research in the field has stru…
  arxiv Yuran Wang, Ruihai Wu, Yue Chen, Jiarui Wang 等 2025-05-16T09:26:59Z 置信度 0.78 cs.ROcs.AIcs.CV
• Multi-Goal Dexterous Hand Manipulation using Probabilistic Model-based Reinforcement Learning
  This paper tackles the challenge of learning multi-goal dexterous hand manipulation tasks using model-based Reinforcement Learning. We propose Goal-Conditioned Probabilistic Model Predictive Control (GC-PMPC) by designing probabilistic neural network ensembles…
  arxiv Yingzhuo Jiang, Wenjun Huang, Rongdun Lin, Chenyang Miao 等 2025-04-30T12:44:38Z 置信度 0.78 cs.ROcs.AIeess.SY
• DexDeform: Dexterous Deformable Object Manipulation with Human Demonstrations and Differentiable Physics
  In this work, we aim to learn dexterous manipulation of deformable objects using multi-fingered hands. Reinforcement learning approaches for dexterous rigid object manipulation would struggle in this setting due to the complexity of physics interaction with de…
  arxiv Sizhe Li, Zhiao Huang, Tao Chen, Tao Du 等 2023-03-27T17:59:49Z 置信度 0.78 cs.CVcs.AIcs.LGcs.RO
• A Minimalist Retargeting-Guided Reinforcement Learning Recipe for Dexterous Manipulation
  Recent work in humanoid whole-body control has found success with a simple recipe: retarget human motion to robot kinematic references, then train policies via reinforcement learning (RL) to track them. But how does this recipe transfer to dexterous manipulati…
  arxiv Yunhai Feng, Natalie Leung, Jiaxuan Wang, Lujie Yang 等 2026-07-13T17:56:08Z 置信度 0.78 cs.ROcs.AIcs.LG
• EgoScale: Scaling Dexterous Manipulation with Diverse Egocentric Human Data
  Human behavior is among the most scalable sources of data for learning physical intelligence, yet how to effectively leverage it for dexterous manipulation remains unclear. While prior work demonstrates human to robot transfer in constrained settings, it is un…
  arxiv Ruijie Zheng, Dantong Niu, Yuqi Xie, Jing Wang 等 2026-02-18T18:59:05Z 置信度 0.78 cs.RO
• Design of an Adaptive Modular Anthropomorphic Dexterous Hand for Human-like Manipulation
  Biological synergies have emerged as a widely adopted paradigm for dexterous hand design, enabling human-like manipulation with a small number of actuators. Nonetheless, excessive coupling tends to diminish the dexterity of hands. This paper tackles the trade-…
  arxiv Zelong Zhou, Wenrui Chen, Zeyun Hu, Qiang Diao 等 2025-11-27T04:42:44Z 置信度 0.78 cs.RO
• DexCompose: Reusing Dexterous Policies for Multi-Task Manipulation with a Single Hand
  Dexterous manipulation policies can solve individual skills, but composing them to perform multiple tasks with a single hand remains challenging. Adding a new task on top of an existing manipulation skill often imposes conflicting demands on overlapping finger…
  arxiv Dihong Huang, Zhenyu Wei, Zhuxiu Xu, Yunchao Yao 等 2026-06-26T17:59:57Z 置信度 0.78 cs.ROcs.AIcs.CVcs.LG
• Learning Dexterous Manipulation Using Contact Wrench Guidance From Human Demonstration
  Dexterous robot manipulation can benefit from the abundance of human demonstrations, but transferring such demonstrations to robot policies remains challenging. We present Contact Wrench Guidance from Human Demonstration in Robotic Dexterous Manipulation (CHOR…
  arxiv Xinghao Zhu, Zixi Liu, Shalin Jain, Chenran Li 等 2026-06-22T22:54:33Z 置信度 0.78 cs.ROcs.AIcs.CV
• Scaffolding Dexterous Manipulation with Vision-Language Models
  Dexterous robotic hands are essential for performing complex manipulation tasks, yet remain difficult to train due to the challenges of demonstration collection and high-dimensional control. While reinforcement learning (RL) can alleviate the data bottleneck b…
  arxiv Vincent de Bakker, Joey Hejna, Tyler Ga Wei Lum, Onur Celik 等 2025-06-24T00:43:00Z 置信度 0.78 cs.RO