Preprint
Sep 2026
HACo: Learning Haptic Active Compliance for Force-Aware Dexterous Manipulation
Contact-rich dexterous manipulation requires policies that translate physical feedback into motion commands while regulating interaction loads across evolving multi-contact interactions. This requires haptic observations of contact state and action supervision showing how commands should adapt. Existing policies often...
Nai-Sheng Ye, Yin-Zhe Zhou, Jun-Kai Zhao et al.
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