Robotic Catching

Latest papers

9 papers3 papers in the last four weeks, against 2 the four weeks before. 0.0% of all new papers.

Catch It All!: Generalizable Dynamic Catching with a Dexterous Hand
Oct 28, 2026Arth Shukla, Kehlani Fay, Huaze Liu +3Robotic Catching Robotic Manipulation
UC San Diego · Harvey Mudd College
Nonprehensile Robotic Catching Using Virtual Constraints
Oct 26, 2026Aakash Khandelwal, Ranjan MukherjeeRobotic Catching Non-Prehensile Robotic Manipulation
Department of Mechanical Engineering, Michigan State University, East Lansing, MI 48824, USA
Reflex: Visually Grounded Reactive Humanoid Control
Oct 8, 2026Taoyang Jia, Weikai Huang, Linxin Song +6Robotic Catching Humanoid Robot Control
University of Washington · Stanford University · University of Southern California +3
Outcome-Sensitive Motion Search for Impact-Aware Dexterous Catching
Sep 24, 2026Guorui Pei, Jinsong Wu, Songyuan Su +5Robotic Catching Robotic Grasping
College of Robotics Science and Engineering, Taiyuan University of Technology, Taiyuan, China · Department of Mechanical Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong SAR, China · Southern University of Science and Technology, Shenzhen, China +4
Anticipatory Robot Goalkeeping via Monotone Optimal Stopping
Sep 21, 2026Hao E. Zhang, Ruize Geng, Yisen Li +8Robotic Catching Optimal Stopping
Carnegie Mellon University · University of Texas at Arlington · General Motors
Catch, Throw, Repeat: Planning for Human-Robot Partner Juggling
Jul 16, 2026Jonathan Rainer Lippert, Kai Ploeger, Abir Chowdhury +3Dynamic Robotic Manipulation Human-Robot Interaction
Technical University of Darmstadt · Justus-Liebig University Gießen · German Research Center for AI (DFKI), 4Robotics Institute Germany +3
Learning a Kinodynamic Trajectory Manifold for Impact-Aware Compliant Catching of Fast-Moving Objects
May 27, 2026Guorui Pei, Mengshi Zhang, Xi Chen +3Robotic Catching Robotic Manipulation
College of Robotics Taiyuan University of Technology Taiyuan, China · School of Data Science City University of Hong Kong (Dongguan) Dongguan, China · School of Advanced Engineering Great Bay University Dongguan, China +2
Zero-Shot Sim-to-Real Robot Learning: A Dexterous Manipulation Study on Reactive Catching
May 10, 2026Kejia Ren, Gaotian Wang, Andrew S. Morgan +1Domain Randomization Robotic Catching
Department of Computer Science, Rice University · Robotics and AI Institute
Pixel2Catch: Multi-Agent Sim-to-Real Transfer for Agile Manipulation with a Single RGB Camera
Feb 26, 2026Seongyong Kim, Junhyeon Cho, Kang-Won Lee +1Robotic Catching Robotic Manipulation
Dongguk University

Oct 28, 2026J/K move · Enter open · S save

Catch It All!: Generalizable Dynamic Catching with a Dexterous Hand

Arth Shukla, Kehlani Fay, Huaze Liu, Darin Djapri+2

UC San Diego · Harvey Mudd College

Robotic Catching Robotic Manipulation Dynamic Robotic Manipulation Generalization in Robotic Manipulation Robotic Grasping Sim-to-Real Transfer

Open paper AskPDF arXiv

Catching arbitrary objects requires generalization to novel projectiles and real-time adaptation to unpredictable contact dynamics under noisy visual observations. This paper presents Catch It All!, a sim-to-real catching framework for humanoid robots that generalizes and adapts to unseen objects with variable physical properties for underhand and overhand catches, using only one egocentric camera. We learn policies which generalize to unseen objects with varying geometry, deformability, elasticity, and physical properties. Effective grasps which adapt real-time to object poses and shapes are learned through careful grasp reward design. We provide safety-aware curricula which enable safe, high-frequency action execution near hardware limits, including wrist torque limits as low as 5 Nm. We validate our system by deploying zero-shot on a Unitree G1. With only one egocentric camera, Catch It All! successfully performs underhand and overhand catches on 9 unseen objects not seen during training, including low-rebound plushes, semi-deformable toys and chip bags, and rigid-elastic objects with high rebound on contact.