ICRA 2025 Workshop "Handy Moves: Dexterity in Multi-Fingered Hands" Paper Submission

Accepted papers (24)

Fetched from OpenReview (v2) on 2026-06-10.

1. ☆A Hand Telerobotic System with Enhanced Dexterity towards Dexterous Manipulation Data Acquisition

   Ruize Wang, Yangbin Bao, Qi Ye, Peng Cheng, Jiming Chen, Gaofeng Li · PDF

2. ☆A Low-Cost Tactile Fingertip Design for Dexterous Robotic Hands

   Zhuowei Xu, Zilin Si, Kevin Lee Zhang, Moonyoung Lee, Shashwat Singh, Oliver Kroemer, Zeynep Temel · PDF

3. ☆A Testbed for The Rapid Prototyping of Tendon Driven Dexterous Fingers with Highly Redundant Sensing

   David McDougall, Anthony J. Barcio, Gray C. Thomas, Robert Ambrose · PDF

4. ☆Analyzing Key Objectives in Human-to-Robot Retargeting for Dexterous Manipulation

   Chendong Xin, Mingrui Yu, Yongpeng Jiang, Zhefeng Zhang, Xiang Li · PDF

5. ☆BiDexHand: Design and Evaluation of an Open-Source 16-DoF Biomimetic Dexterous Hand

   Zhengyang Kris Weng · PDF

6. ☆Compliant In-Hand Multifingered Rolling Using Tactile Sensing

   Huan Weng, Kevin Lynch · PDF

7. ☆Design of a Multifingered Robot Hand and User Interface for Force-Transparent Teleoperation

   Luke Batteas, Oliver Sterling-Angus, Yufeng Yang, Patrick Dills, Kevin Lynch, J. Edward Colgate · PDF

8. ☆Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomy

   Jiayi Chen, Yubin Ke, Lin Peng, He Wang · PDF

9. ☆DexSinGrasp: Learning a Unified Policy for Dexterous Object Singulation and Grasping in Cluttered Environments

   Lixin Xu, Zixuan Liu, GUI ZHEWEI, Jingxiang Guo, Zeyu Jiang, Zhixuan Xu, Chongkai Gao, Lin Shao · PDF

10. ☆DOGlove: Dexterous Manipulation with a Low-Cost Open-Source Haptic Force Feedback Glove

    Han Zhang, Songbo Hu, Zhecheng Yuan, Huazhe Xu · PDF

11. ☆Effectiveness of Kinesthetic Sensing in In-Hand Rotation of Objects with an Eccentric Center of Mass

    Chanyoung Ahn, Sungwoo Park, Donghyun Hwang · PDF

12. ☆From MIDI to Motion: Learning to Play the Piano at Scale with Bi-Manual Dexterous Robot Hands

    Le Chen, Yi Zhao, Jan Schneider, Quankai Gao, Juho Kannala, Bernhard Schölkopf, Joni Pajarinen, Dieter Büchler · PDF

13. ☆GET-Zero: Graph Embodiment Transformer for Zero-shot Embodiment Generalization

    Austin Patel, Shuran Song · PDF

14. ☆GPU-Accelerated Subsystem-Based ADMM for Large-Scale Interactive Simulation

    Harim Ji, Hyunsu Kim, Jeongmin Lee, Somang Lee, Seoki An, Jinuk Heo, Youngseon Lee, Yongseok Lee, Dongjun Lee · PDF

15. ☆Kinematics of a 4-DoF Series-Parallel Robotic Thumb

    Nicholas Baiata, Nilanjan Chakraborty · PDF

16. ☆Multi-Agent Deep Reinforcement Learning for Variable-Finger Dexterous Grasping through Multi-Stream Embedding Fusion

    Mahdi Bonyani, Maryam Soleymani, Chao Wang · PDF

17. ☆NormalFlow: Fast, Robust, and Accurate Contact-based Object 6DoF Pose Tracking with Vision-based Tactile Sensors

    Hung-Jui Huang, Michael Kaess, Wenzhen Yuan · PDF

18. ☆Not Twisting Your Arm: Combining Grasping and Rotation in a Single Robot Hand Mechanism

    Vatsal V. Patel, Aaron Dollar · PDF

19. ☆Robotic In-Hand Manipulation for Large-Range Precise Object Movement: The RGMC Champion Solution

    Mingrui Yu, Yongpeng Jiang, Chen Chen, Yongyi Jia, Xiang Li · PDF

20. ☆Robust Model-Based In-Hand Manipulation with Integrated Real-Time Motion-Contact Planning and Tracking

    Yongpeng Jiang · PDF

21. ☆RUKA: Rethinking the Design of Humanoid Hands with Learning

    Anya Zorin, Irmak Guzey, Billy Yan, Aadhithya Iyer, Lisa Kondrich, Nikhil X. Bhattasali, Lerrel Pinto · PDF

22. ☆Sampling and quality metric estimation of bimanual grasps for multifingered robotic hands

    António Dinis, Plinio Moreno · PDF

23. ☆SeqGrasp: Sequential Multi-Object Dexterous Grasp Generation

    Haofei Lu, Yifei Dong, Zehang Weng, Jens Lundell, Florian T. Pokorny, Danica Kragic · PDF

24. ☆Toward Autonomous Dexterous Manipulation using Diffusion Policies with a Humanoid Robot

    Toby Buckley, Kevin Lynch, J. Edward Colgate · PDF