In-Hand Manipulation

Ask about this topic

Overview

In-hand manipulation studies how multifingered robot hands move, rotate, and use objects while maintaining contact, enabling tasks such as reorientation, assembly, and tool use. Approaches include reinforcement learning with simulation-to-real transfer, imitation from human demonstrations, analytical contact and Jacobian-based control, and sensing with tactile, visual, acoustic, or proprioceptive signals. Researchers also design new hand mechanisms and benchmarks to measure how well different hands perform fine manipulation. Real-robot demonstrations are expanding, but reliable generalization across objects, grasps, hand designs, and changing contacts remains difficult.

Latest papers

CardsList

34 papers4 papers in the last four weeks, down 56% on the four weeks before. 0.0% of all new papers.

  1. Tactile In-Hand Object Rotation: A Comparative Study of Hand Morphology in Simulation and Hardware

    Oct 19, 2026Wenhao He, Max Yang, Chenghua Lu +3In-Hand ManipulationRobotic Hand Design

    Department of Engineering Mathematics and Bristol Robotics Laboratory, University of Bristol, Bristol BS8 1UB, U.K.

  2. No Eyes, No Problem: What Does Touch Contribute to Blind Baoding Ball Manipulation?

    Oct 16, 2026Ayush Deshmukh, Nalin Agarwal, Elle Miller +1In-Hand ManipulationZero-Shot Robotic Manipulation

    All authors are with the School of Informatics, University of Edinburgh, Edinburgh, UK.

  3. PlayPolicy: Dexterity from Supervised Play

    Oct 15, 2026Botao He, Yiming Dou, Yiannis Aloimonos +3Robot LearningContact-Rich Robotic Manipulation

    Amazon Frontier AI & Robotics (FAR). · University of Maryland, College Park.

  4. Post-Grasp Kinematic Repair for Robotic Insertion via Object-in-Gripper Reorientation

    Oct 6, 2026Haegu Lee, Christoffer SlothIn-Hand ManipulationRobotic Insertion

    The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Denmark

  5. FINGR: Learning Dexterous Hand Control for Real-World Rubik's Cube Solving

    Sep 27, 2026Yutong Liang, Quanquan Peng, Matthew Kim +1Robotic ControlIn-Hand Manipulation

    University of California San Diego

  6. The Cartesian Hand: In-Hand Manipulation with All-Linear Fingers

    Sep 22, 2026Boxi Xia, Bokuan Li, Ryan Shin +3Robotic Hand DesignDexterous Manipulation

    Duke University

  7. A Reconfigurable Dual-Opposition Architecture for Single-Hand Assembly and Manipulation

    Sep 19, 2026William Su, Yunosuke Nakamura, Yixiao Wang +6Robotic Hand DesignIn-Hand Manipulation

    Aerospace Engineering Program, University of California, Berkeley, Berkeley, CA 94720, USA. · Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA 94720, USA. · Department of Mechanical Engineering, National University of Singapore, Singapore 117575.

  8. Primitive-Informed Sampling-Based MPC for Multi-Fingered Dexterous Manipulation

    Sep 14, 2026Emek Barış Küçüktabak, Karankumar Patel, Jinda Cui +3Robotic GraspingDexterous Manipulation

    Honda Research Institute USA, San Jose, CA, USA · Georgia Institute of Technology, Atlanta, GA, USA (Work done during an internship at HRI)

  9. Learning In-Hand Object Reaching to General 6D Poses

    Sep 12, 2026Junxiao Lin, Tianyue Wu, Jie Yin +3In-Hand ManipulationRobotic Manipulation

    Sharpa. · School of Computer Science, The University of Sydney, Australia. · School of Computing and Data Science, The University of Hong Kong, HKSAR.

  10. ArtManip: Category-Level Articulated In-Hand Manipulation

    Sep 11, 2026Yang Yang, Tengyu Liu, Puhao Li +6RL for RoboticsDexterous Manipulation

    State Key Lab of CAD&CG, Zhejiang University · State Key Lab of General Artificial Intelligence, BIGAI · Tsinghua University +1

  11. Rapid Learning of Dexterous In-Hand Pen Writing through Real-Time Jacobian Estimation

    Sep 10, 2026Kai Stewart, Yasunori Toshimitsu, Robert K. KatzschmannRobotic ControlIn-Hand Manipulation

    Soft Robotics Lab, D-MAVT, ETH Zurich, 8092 Zurich, Switzerland

  12. Assembling Two Parts in One Hand

    Sep 9, 2026Liuao Pei, Tianyue Wu, Hui Zhang +2RL for RoboticsDexterous Manipulation

    The University of Hong Kong · The Hong Kong University of Science and Technology (Guangzhou) · ETH Zurich +1

  13. Benchmarking Dexterity of Multifingered Robot Hands: A Review and Perspective

    Sep 4, 2026Anthony Shilati, Anunth Ramaswami, Luke Batteas +16Robot Manipulation BenchmarksDexterous Manipulation

    Center for Robotics and Biosystems, Northwestern Univ., Evanston, IL, USA · Department of Mechanical Engineering, Texas A&M Univ., College Station, TX, USA · Department of Electrical and Computer Engineering, Carnegie Mellon Univ., Pittsburgh, PA, USA +1

  14. DexMani: Human-Derived Manipulability Guidance for Dexterous Rotation

    Aug 1, 2026Xiaoyang Chen, Shengcheng Luo, Haoran Guo +4Dexterous ManipulationRobot Skill Learning

    Shanghai Jiao Tong University · ShanghaiTech University · Beijing Institute for General Artificial Intelligence (BIGAI) +1

  15. UniCross: Unified Cross-Skill Dexterous Manipulation Synthesis

    Jul 30, 2026Hui Zhang, Julian Ferchow, Jie Song +1Robotic GraspingDexterous Manipulation

    ETH Zürich, Switzerland · inspire AG, Zürich, Switzerland · HKUST (Guangzhou), China

  16. Robust In-Hand Manipulation via Priors in Reinforcement Learning and Mechanical Design

    Jul 13, 2026Yifei Chen, Shihan Lu, Ed Colgate +1Robotic Hand DesignRobotic Grasping

    Center for Robotics and Biosystems, Northwestern University

  17. Towards Human-level Dexterous Teleoperation

    Jul 13, 2026Puhao Li, Zeyuan Chen, Yingying Wu +9RL for RoboticsLong-Horizon Robotic Manipulation

    1Tsinghua University · 2State Key Lab of General Artificial Intelligence, BIGAI · 3Peking University

  18. Closing the Reality Gap: Zero-Shot Sim-to-Real Deployment for Dexterous Force-Based Grasping and Manipulation

    Jul 6, 2026Zhe Zhao, Zhibin Li, Yilin Ou +1Robotic GraspingDexterous Manipulation

    State Key Laboratory of Networking and Switching Technology Beijing University of Posts and Telecommunications, China · University College London, United Kingdom

  19. Cross-Embodiment Robot Manipulation via a Unified Hand Action Space

    Jul 3, 2026Luis Felipe Casas, Robert Teal, Keval Shah +3Dexterous ManipulationIn-Hand Manipulation

    Intelligent Robotics and Vision Lab, University of Texas at Dallas · Intelligent Robotics and Interactive Systems Lab, Arizona State University

  20. Learning Stable In-Grasp Manipulation in a Non-Dropping Action Space

    Jun 26, 2026Ha Thang Long Doan, Hikaru Arita, Kazuto Nakashima +1Robotic GraspingDexterous Manipulation

  21. NoContactNoWorries: Estimating Contact through Vision and Proprioception for In-Hand Dexterous Manipulation

    Jun 23, 2026Soham Patil, Avirup Das, Sourabh Bhosale +1Vision-Based Tactile SensingDexterous Manipulation

    Robotics Research Center (RRC), International Institute of Information Technology (IIIT), Hyderabad, India · Department of Computer Science, The University of Manchester

  22. Belt-Finger: An Affordable Soft Belt-Driven Gripper for Dexterous In-Hand Manipulation

    Jun 18, 2026Boya Zhang, Andreas Zell, Georg MartiusRobotic GraspingDexterous Manipulation

    Department of Computer Science, University of Tübingen, Germany · 2Max Planck Institute for Intelligent Systems, Germany

  23. ORCA: A Platform for Open-Source Dexterity Research

    Jun 12, 2026Francesco Capuano, Maximilian Eberlein, Fabrice Bourquin +1Dexterous ManipulationRobot Skill Learning

    University of Oxford · ETH Zurich · Orca Dexterity

  24. Mana: Dexterous Manipulation of Articulated Tools

    Jun 11, 2026Zhao-Heng Yin, Guanya Shi, Pieter Abbeel +1Robotic GraspingDexterous Manipulation

    UC Berkeley1 · Amazon FAR4 · CMU2 +1

  25. RealDexUMI: A Wearable Universal Manipulation Interface for Dexterous Robot Learning

    Jun 4, 2026Chaoyi Xu, Yixuan Jiang, Jiahui Huan +7Dexterous ManipulationIn-Hand Manipulation

    Peking University · BeingBeyond · Beihang University +2

  26. Two Degree-of-Freedom Vibratory Transport in a Grasp

    May 29, 2026C. L. Yako, Shenli Yuan, Kenneth SalisburyRobotic GraspingDexterous Manipulation

  27. Safe and Steerable Geometric Motion Policies for Robotic Dexterous Manipulation

    May 20, 2026Albert Wu, Riccardo Bonalli, Thomas Lew +1Robotic ControlConstrained Motion Planning

    Computer Science Department, Stanford University, Stanford, CA 94305, USA. · Laboratory of Signals and Systems, University of Paris-Saclay, CNRS, CentraleSup´elec, France. · Toyota Research Institute, Los Altos, CA 94022, USA.

  28. Learning Robust Dexterous In-Hand Manipulation from Joint Sensors with Proprioceptive Transformer

    May 20, 2026Senlan Yao, Chenyu Yang, Jaehoon Kim +2Dexterous ManipulationIn-Hand Manipulation

    Soft Robotics Laboratory, ETH Zürich, Switzerland

  29. KaRMA: A Kinematic Metric for Fine Manipulation Ability in Robotic Hands

    May 15, 2026Martin Peticco, Pulkit AgrawalDexterous ManipulationIn-Hand Manipulation

    Improbable AI Lab, Massachusetts Institute of Technology

  30. A-SLIP: Acoustic Sensing for Continuous In-hand Slip Estimation

    Apr 9, 2026Uksang Yoo, Yuemin Mao, Jean Oh +1Tactile SensingRobotic Tactile Sensing

    Robotics Institute, Carnegie Mellon University, USA