Author

Ho Jae Lee

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Preprint Sep 2026

See to Reach, Feel to Grasp: Learning A Blind Grasp Reflex for Anthropomorphic Robotic Hands

In this work we study if a robotic hand using proprioception alone can grasp diverse objects with no visual observation. We present a modular dexterous grasping architecture that separates global arm motion from local contact control. An independently controlled arm guides the hand toward the object, while a reinforcem...

Alexander Alexiev, Tzu-Yuan Lin, Sang Min Kim et al. · 0 citations

Open access Oct 2025

Residual MPC: Blending Reinforcement Learning With GPU-Parallelized Model Predictive Control

This work presents a GPU-parallelized residual architecture that tightly integrates MPC and RL by blending their outputs at the torque-control level, achieving higher sample efficiency, converges to greater asymptotic rewards, expands the range of trackable velocity commands, and enables zero-shot adaptation to unseen...

Seungmin Jeon, Ho Jae Lee, Seung-Woo Hong et al. · IEEE Transactions on robotic... · 10 citations