Author

Daniel Seita

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#machine learning Preprint Oct 2026

Beyond the End-Effector: Learning Whole-Arm Contact Manipulation from Human Demonstrations

WACL is proposed, a hierarchical framework that describes each whole-arm contact task with three robot-agnostic representations and hands them to a quasi-static surface-contact optimizer: semantic keypoints that summarize the scene, a reference contact trajectory that specifies where and how the arm presses on the obje...

Bo-Hao Huang, Daniel Seita, Erdem Biyik · 0 citations

Preprint Sep 2026

When Does Touch Matter? Charting the Vision-Interaction Gap in Cluttered Dexterous Grasping

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 obscure grasp quality, motivating a controlled evaluation of these interaction signals. We present a controlled real-world study over five tablet...

Hao-Lai Jiang, Luis Dominguez, Daniel Seita · 0 citations