Many practically relevant robot grasping problems feature a target object for which all grasps
are occluded, eg, by the environment. Single-shot grasp planning invariably fails in such …

Dexterous robotic manipulation remains a challenging domain due to its strict demands for
precision and robustness on both hardware and software. While dexterous robotic hands …

Dexterous in-hand manipulation is an essential skill of production and life. Nevertheless, the
highly stiff and mutable features of contacts cause limitations to real-time contact discovery …

For robotic systems to be useful in everyday lives, they need to perform dexterous
manipulation tasks in messy human environments. Enumerating all the possible physical …