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Liu-Ao Pei

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#reinforcement learning Preprint Sep 2026

Assembling Two Parts in One Hand

A reinforcement learning formulation is presented to solve in-hand assembly: mating two rigid objects within a single dexterous hand, with no second arm and no fixture, which shows robustness to state-estimation errors caused by oc- clusion.

Liu-Ao Pei, Tian-Yue Wu, Hui Zhang et al. · 1 citation