Real-Time Force Regulation for Whole-Hand Dexterous Grasping

arXiv:2609.30082 · cs.RO, cs.SY, eess.SY · Submitted 2026-09-24 · Read on arXiv

cs.RO, cs.SY, eess.SY

Submitted: 2026-09-24

Updated: 2026-09-24

Project page: https://sangminkim-99.github.io/reactive-grasp-whole-hand

Terminology

• Consistency — 10× in this paper · explained in 3 episodes
• Robustness — 7× in this paper · explained in 5 episodes
• Conference on Robot Learning — 3× in this paper
• IEEE International Conference on Robotics and Automation — 3× in this paper
• Ablation — 2× in this paper · explained in 1 episode
• Adaptation — 2× in this paper · explained in 1 episode
• Conference on Computer Vision and Pattern Recognition — 2× in this paper
• Gaussian Splatting — 2× in this paper · explained in 4 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Generative Models — 1× in this paper · explained in 2 episodes
• Online Adaptation — 1× in this paper · explained in 3 episodes

Sources

• TacDexGrasp: Compliant and Robust Dexterous Grasping with Tactile Feedback
• NoContactNoWorries: Estimating Contact through Vision and Proprioception for In-Hand Dexterous Manipulation

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