In-hand object reorientation has been a challenging problem in robotics due to high
dimensional actuation space and the frequent change in contact state between the fingers …

Human dexterity is an invaluable capability for precise manipulation of objects in complex
tasks. The capability of robots to similarly grasp and perform in-hand manipulation of objects …

The intricate kinematics of the human hand enable simultaneous grasping and manipulation
of multiple objects, essential for tasks, such as object transfer and in-hand manipulation …

Human dexterity is an invaluable capability for precise manipulation of objects in complex
tasks. The capability of robots to similarly grasp and perform in-hand manipulation of objects …

Many manipulation tasks, such as placement or within-hand manipulation, require the
object's pose relative to a robot hand. The task is difficult when the hand significantly …

The purpose of this benchmark is to evaluate the planning and control aspects of robotic in-
hand manipulation systems. The goal is to assess the system's ability to change the pose of …

Human-like robot hands provide the flexibility to manipulate a variety of objects that are
found in unstructured environments. Knowledge of object properties and motion trajectory is …

Unlike traditional robotic hands, underactuated compliant hands are challenging to model
due to inherent uncertainties. Consequently, pose estimation of a grasped object is usually …

Fully actuated multifingered robotic hands are often expensive and fragile. Low-cost
underactuated hands are appealing but present challenges due to the lack of analytical …

Learning accurate representations of robot models remains a challenging problem, and is
typically approached though large, system-specific feature sets. This method inherently …