A single robot platform, Handroid, is introduced that can function as both a dexterous hand and a humanoid robot, with interchangeable control and learning frameworks.

This paper presents Mana, a sim-to-real framework for dexterous articulated tool manipulation.

A framework called DexCompose is proposed to reuse pretrained dexterous policies for multi-task manipulation with explicit finger-level action ownership.

BORA is an offline-to-online RL framework that enhances dexterous VLA models for real-world robotics by using an action-conditioned critic and a lightweight residual adaptation mechanism to correct ex…

The paper presents AutoDex, a system that automatically collects real-world data for robust dexterous grasping, achieving a 4.8x throughput improvement over teleoperation and higher success rate than…

The paper introduces Center-of-Pressure (CoP), a physics-grounded tactile representation that enables robust zero-shot sim-to-real transfer for complex, contact-rich manipulation tasks.

The paper introduces DexVerse, a large-scale and modular benchmark for dexterous manipulation with 100 tasks, 3 robot arms, 6 hands, and configurable visual variations.

Researchers built a compliant, tapered, continuum arm inspired by the elephant trunk using 3D printing and tendon-driven actuation, enabling whole-body grasping of various objects.

This paper proposes SonoRank, a method for calibration-free finger flexion detection from forearm ultrasound video using pairwise ranking and fine-tuning.

This paper introduces the asymmetric origami bending (AOB) pattern and asymmetric dual-chamber (ADC) design for creating a soft robotic hand called OSOR, which achieves bio-inspired motions and simpli…

The paper presents ViTacWorld, a framework for scalable contact-rich robot manipulation using a visuo-tactile world model.

This paper presents a robot-agnostic compliant-control framework with standardized interfaces for ROS control ecosystem, enabling reusable infrastructure for various manipulators and diverse compliant…

This paper presents OrchardBench, a physically-grounded, GPU-parallel simulation of apple-orchard trees for robotic tree-fruit harvesting research.

This paper proposes coupled egocentric control, a body-following teleoperation approach for whole-body robot control, improving efficiency, reducing effort, and increasing ease of use.

This paper investigates a novel vulnerability in tactile sensing by demonstrating that targeted Electromagnetic Interference (EMI) can induce strong, misleading 'phantom forces' in Hall-effect fingert…