A passively compliant soft wrist structures insertion as sequential contact formations and uses a VLM to recover from failures, reaching 83% success in simulation across randomized grasp, pose, friction, and shape variations with real-robot validation.
Apricot: Action primitives based on contact-state transition for in-hand tool manipulation
1 Pith paper cite this work. Polarity classification is still indexing.
1
Pith paper citing it
fields
cs.RO 1years
2025 1verdicts
UNVERDICTED 1representative citing papers
citing papers explorer
-
Robust and Resilient Soft Robotic Object Insertion with Compliance-Enabled Contact Formation and Failure Recovery
A passively compliant soft wrist structures insertion as sequential contact formations and uses a VLM to recover from failures, reaching 83% success in simulation across randomized grasp, pose, friction, and shape variations with real-robot validation.