In-hand assembly is constrained by the need to maintain grasps on two separate parts while controlling their relative motion within a single hand. To enable both in-hand assembly and manipulation, we present a reconfigurable dual-opposition architecture. Specifically, to support simultaneous grasping of two parts and c...
William Su, Yunosuke Nakamura, Yi-Xiao Wang et al.· 1 citation
HUGS (Human-prior-guided Unified Dexterous Grasp Synthesis), a human-prior-guided framework for unified dexterous grasp synthesis across modes and scales, and adaptively proposes contact modes and wrist initializations, substantially improving the balance between contact-mode coverage and synthesis success rate over he...
A tactile-driven model predictive controller for adaptive and delicate execution of diverse dexterous grasps that imposes no restrictions on grasp types or contact configurations and integrates seamlessly with state-of-the-art grasp pose generation methods.
Mingrui Yu, Yongpeng Jiang, Yongyi Jia et al.· 0 citations
TeleDexter is introduced, a hand-object co-tracking controller that maps operator intent into learned, low-level contact execution that successfully train autonomous policies via behavioral cloning, marking a concrete step towards human-level dexterous teleoperation.
