Preprint
Sep 2026
TacBPM: A Tactile-conditioned Behavior Prior Model for Dexterous Reorientation
Dexterous in-hand manipulation requires policies that coordinate high-DoF hand joints through intermittent, contact-rich interaction. Beyond target-orientation tracking, such policies must discover finger gaits that preserve object stability while adapting to geometry, anisotropy, pose, contact, and sensing changes. We...
Jie Yin, Wan-Li Xing, Ze-Yuan Zhao et al.
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