Preprint
Sep 2026
Learning In-Hand Object Reaching to General 6D Poses
POISE (Palm-relative Object reaching In SE(3), a sim-to-real reinforcement learning framework for in-hand 6D object pose reaching, combines diverse stable-grasp initialization, goal- and geometry-conditioned control, an adaptive 6D goal curriculum, and a compact reward scheme for pose reaching and grasp preservation.
Jun-Xiao Lin, Tian-Yue Wu, Jie Yin et al.
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