The Cartesian Hand: In-Hand Manipulation with All-Linear Fingers

arXiv:2609.25696 · cs.RO · Submitted 2026-09-22 · Read on arXiv

cs.RO

Submitted: 2026-09-22

Updated: 2026-09-22

Terminology

• Conference on Robot Learning — 5× in this paper
• Motion Primitives — 5× in this paper · explained in 2 episodes
• International Conference on Robotics and Automation — 2× in this paper
• Action Flow — 1× in this paper · explained in 1 episode
• Action Primitives — 1× in this paper · explained in 1 episode
• Cooperation — 1× in this paper · explained in 2 episodes

Sources

• HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit
• OpenVLA: An Open-Source Vision-Language-Action Model
• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control

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