FIRMGrasp: A Friction-Informed Risk Margin for Robust Grasp Synthesis - 2026-07-27 - Research Publication - Simulation studies test friction-robust grasp ranking on LEAP, Allegro and Shadow hand models. - source: arxiv.org
Cross-Embodiment Robot Manipulation via a Unified Hand Action Space - 2026-07-03 - Research Publication - Cross-embodiment transfer is physically tested on LEAP Hand and simulated on Allegro and Shadow hands. - source: arxiv.org
DMFC-GraspNet: Differentiable Multi-Fingered Robotic Grasp Generation in Cluttered Scenes - 2023-08-01 - Research Publication - Robotic grasping is a fundamental skill required for object manipulation in robotics. - source: arxiv.org
PoseFusion: Robust Object-in-Hand Pose Estimation with SelectLSTM - 2023-04-10 - Research Publication - Accurate estimation of the relative pose between an object and a robot hand is critical for many manipulation tasks. - source: arxiv.org
A Multi-Agent Approach for Adaptive Finger Cooperation in Learning-based In-Hand Manipulation - 2022-10-11 - Research Publication - In-hand manipulation is challenging for a multi-finger robotic hand due to its high degrees of freedom and the complex interaction with the object. - source: arxiv.org
GradTac: Spatio-Temporal Gradient Based Tactile Sensing - 2022-03-14 - Research Publication - GradTac processes BioTac SP signals on a Shadow Dexterous Hand to improve tactile tracking under fluid-sensor noise. - source: arxiv.org
Grasping in the Dark: Zero-Shot Object Grasping Using Tactile Feedback - 2020-11-02 - Research Publication - A tactile slip controller enables a BioTac-equipped Shadow Dexterous Hand to grasp previously unseen objects without object models. - source: arxiv.org
Demonstration-Guided Deep Reinforcement Learning of Control Policies for Dexterous Human-Robot Interaction - 2019-06-27 - Research Publication - Demonstration-guided reinforcement learning controls a Shadow Dexterous Hand for handshake, hand-clap, and finger-touch interactions. - source: arxiv.org
Shadow Dexterous Hand teleoperation paper maps hand depth images to robot joint angles - 2019-05-01 - Research Publication - This paper covers Shadow Dexterous Hand teleoperation paper maps hand depth images to robot joint angles for Shadow Dexterous Hand in dexterity. - source: doi.org
Computational Tactile Flow for Anthropomorphic Grippers - 2019-03-19 - Research Publication - Computational tactile flow extracts motion and surface cues from pressure sequences recorded with a Shadow Dexterous Hand. - source: arxiv.org
Vision-based Teleoperation of Shadow Dexterous Hand using End-to-End Deep Neural Network - 2018-09-17 - Research Publication - TeachNet maps human-hand depth images directly to Shadow C6 joint angles for markerless dexterous-hand teleoperation. - source: arxiv.org
Learning Dexterous In-Hand Manipulation - 2018-08-01 - Research Publication - Simulation-trained reinforcement-learning policies transfer to a physical Shadow Dexterous Hand for vision-based object reorientation. - source: arxiv.org
Multi-goal RL benchmark paper includes in-hand manipulation with Shadow Dexterous Hand - 2018-02-26 - Research Publication - This paper covers Multi-goal RL benchmark paper includes in-hand manipulation with Shadow Dexterous Hand for Shadow Dexterous Hand in dexterity. - source: doi.org
Multi-Goal Reinforcement Learning: Challenging Robotics Environments and Request for Research - 2018-02-26 - Research Publication - First of all, it introduces a suite of challenging continuous control tasks (integrated with OpenAI Gym) based on currently existing robotics hardware. - source: arxiv.org