ICRA 2026 Workshop on Dexterity with Multifingered Hands: Hardware, Sensing, and Skills

Accepted papers (17)

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

1. A uSkin Fingertip with a Tactile Fingernail for Contact-Rich Dexterous Manipulation

   Steven Oh, Satoshi Funabashi, Hiroki Niimi, Tai Yamada, Kazutaka Omori, Pranav Ponnivalavan, Tetsuya Ogata, Shigeki SUGANO · PDF

2. Beyond Binary: Sim-to-Real Dexterous Manipulation with Physics-Aware Contact Representation

   Jiahe Pan, Stelian Coros, Jitendra Malik, Toru Lin · PDF

3. CoorGrasp: Coordinated Contact Control for Adaptive Dexterous Grasping Under Uncertainty

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

4. Dex4D: Task-Agnostic Point Track Policy for Sim-to-Real Dexterous Manipulation

   Yuxuan Kuang, Sungjae Park, Katerina Fragkiadaki, Shubham Tulsiani · PDF

5. DexDrummer: In-Hand, Contact-Rich, and Long-Horizon Dexterous Robot Drumming

   Hung-Chieh Fang, Amber Xie, Jennifer Grannen, Kenneth Llontop, Dorsa Sadigh · PDF

6. DexNinja: Learning Robust Dexterous Cutting Policy with a Real-to-Sim-to-Real Data Engine

   Haozhe Lou, Runyi Yang, Wanqi Zhong, Caiyun Liu, Yicheng Liu, Wenhao Liu, Wenlong Ma, Jiawei Xia, Xu Zheng, Danda Pani Paudel, Luc Van Gool, Hang Zhao, Yiming Li · PDF

7. Dexterous Non-prehensile Manipulation using Environment Guided Diffusion Models

   Shaoxiong Yao, Chengyi Xing, Yuki Shirai, Devesh K. Jha, Diego Romeres · PDF

8. HANDFUL: Sequential Grasp-Conditioned Dexterous Manipulation with Resource Awareness

   Ethan Foong, Yunshuang Li, Hao Jiang, Gaurav S. Sukhatme, Daniel Seita · PDF

9. Helping Hand: Completing Collaborative Tasks with Dexterous Hands

   Boshi An, Chenyu Yang, Robert K. Katzschmann · PDF

10. IFG: Internet-Scale Guidance for Functional Grasping Generation

    Muxin Liu, Mingxuan Li, Kenneth Shaw, Deepak Pathak · PDF

11. Multifingered force-aware control for humanoid robots

    Pasquale Marra, Gabriele Mario Caddeo, Ugo Pattacini, Lorenzo Natale · PDF

12. Robust Teleoperation of an Anthropomorphic Robotic Hand through Gesture Classification and Continuous Mapping

    Cheng Pan, Kai Junge, Josie Hughes · PDF

13. Ruka-v2: Tendon Driven Open-Source Dexterous Hand with Wrist and Abduction for Robot Learning

    Xinqi Liu, Ruoxi Hu, Alejandro Ojeda Olarte, Zhuoran Chen, Kenny Ma, Charles Cheng Ji, Lerrel Pinto, Raunaq Bhirangi, Irmak Guzey · PDF

14. SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Use

    Kushal Kedia, Tyler Ga Wei Lum, Jeannette Bohg, Karen Liu · PDF

15. TactileLab: Efficient Shear-Sensitive Tactile Simulation for Sim-to-Real Multi-Finger Dexterous Manipulation

    Yijiong Lin, Nathan F. Lepora · PDF

16. Towards Dexterous Agri-Food Manipulation: Topology-Dependent Interaction Patterns in a Reconfigurable Multifingered Gripper

    Hongyu Lan, Alessio Caporali, Chengxiao Dong, Gianluca Palli, Claudio Melchiorri · PDF

17. Tracing Energy Flow: Learning Tactile-based Grasping Force Control to Reduce Slippage in Dynamic Object Interaction

    Cheng-Yu Kuo, Hirofumi Shin, Takamitsu Matsubara · PDF