Zhi-Jie Deng

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...