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