A cross-embodiment force-position interface with system-identified torque calibration enables a flow-matching policy to perform transferable compliant grasping on heterogeneous dexterous hands.
Cross-embodiment dexterous grasping with reinforcement learning.ArXiv, abs/2410.02479
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LACE aligns human-robot visual features via semantic distribution matching on corresponding body parts plus Gram loss, yielding 65% better zero-shot policy transfer than baseline DINO.
SECOND-Grasp integrates semantic contact proposals from vision-language reasoning with geometric refinement to achieve 98%+ lifting success and improved intent-aware grasping on seen and unseen objects.
KITE decouples task reasoning from embodiment-specific control via learned latent interaction intents to enable zero-shot transfer across structurally different robots.
A structured survey of dexterous robotic hand research that reviews hardware, control methods, data resources, and benchmarks while identifying major limitations and future directions.
citing papers explorer
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Transferring Contact, Not Just Motion: Compliant Grasping Across Dexterous Hands
A cross-embodiment force-position interface with system-identified torque calibration enables a flow-matching policy to perform transferable compliant grasping on heterogeneous dexterous hands.
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LACE: Latent Visual Representation for Cross-Embodiment Learning
LACE aligns human-robot visual features via semantic distribution matching on corresponding body parts plus Gram loss, yielding 65% better zero-shot policy transfer than baseline DINO.
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SECOND-Grasp: Semantic Contact-guided Dexterous Grasping
SECOND-Grasp integrates semantic contact proposals from vision-language reasoning with geometric refinement to achieve 98%+ lifting success and improved intent-aware grasping on seen and unseen objects.
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KITE: Decoupling Kinematics and Interaction for Zero-Shot Cross-Embodiment Manipulation
KITE decouples task reasoning from embodiment-specific control via learned latent interaction intents to enable zero-shot transfer across structurally different robots.
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Towards Robotic Dexterous Hand Intelligence: A Survey
A structured survey of dexterous robotic hand research that reviews hardware, control methods, data resources, and benchmarks while identifying major limitations and future directions.