SOURCE-LINKED INTELLIGENCE

Learning In-Hand Object Reaching to General 6D Poses

arXiv · AI, language, vision and robotics · article · Sep 12, 2026 · UTC

In-hand manipulation allows multi-fingered dexterous hands to reconfigure grasped objects without releasing and regrasping them. This improves manipulation efficiency by reducing repeated grasp acquisition and large arm motions. However, most learning-based methods focus on reorientation, continuous rotation, or translation, whereas many tasks require joint control of object position and orientation. We formulate this capability as in-hand 6D object pose reaching: starting from an existing grasp, coordinated finger motions move the object to a palm-relative target pose. We present POISE (Palm-

Read original source ↗ Open in workspace

recordType

paper

region

Global