Author

Kevin M. Lynch

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Preprint Sep 2026

PolyUMI: Accessible Visual-Tactile-Audio Data Collection for Object Inference and Manipulation

Humans typically rely on vision, touch, hearing, and proprioception to perceive contact and adapt their actions during manipulation. Providing robots with comparable responsiveness therefore requires hardware that can retain and use these complementary sensory signals. Most imitation-learning systems, however, observe...

Conor W. Hayes, Rickmer Krohn, Aravind Ramaswami et al. · 0 citations

Review Sep 2026

Benchmarking Dexterity of Multifingered Robot Hands: A Review and Perspective

Robot hands are a key interface between AI and the physical world, making advances in robotic dexterity essential to realizing the vision of physical AI. While impressive dexterity has been demonstrated with simple grippers, multifingered hands offer the potential for substantially greater versatility, precision, and a...

Anthony Shilati, Anu Ramaswami, Luke C. Batteas et al. · 0 citations

Review Jul 2026

Robust In-Hand Manipulation via Priors in Reinforcement Learning and Mechanical Design

Two complementary physics priors for robust in-hand rolling manipulation are introduced: a global grasp-quality prior derived from classical grasp analysis and a local contact-geometry prior based on fingertip curvature.

Yi-Fei Chen, Shihan Lu, Ed Colgate et al. · arXiv.org · 0 citations