May 14, 2024, 4:43 a.m. | Max Yang, Chenghua Lu, Alex Church, Yijiong Lin, Chris Ford, Haoran Li, Efi Psomopoulou, David A. W. Barton, Nathan F. Lepora

cs.LG updates on arXiv.org arxiv.org

arXiv:2405.07391v1 Announce Type: cross
Abstract: In-hand manipulation is an integral component of human dexterity. Our hands rely on tactile feedback for stable and reactive motions to ensure objects do not slip away unintentionally during manipulation. For a robot hand, this level of dexterity requires extracting and utilizing rich contact information for precise motor control. In this paper, we present AnyRotate, a system for gravity-invariant multi-axis in-hand object rotation using dense featured sim-to-real touch. We construct a continuous contact feature representation …

abstract arxiv cs.ai cs.lg cs.ro feedback gravity human information integral manipulation object objects robot rotation sim sim-to-real type

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