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

arXiv · AI, language, vision and robotics · article · Sep 10, 2026 · UTC

Dexterous in-hand manipulation of a grasped object with an anthropomorphic hand is an unsolved frontier for robot dexterity. The contact-richness and highly dynamic nature of object-hand interactions tend to require extensive modeling or data-collection efforts for learning-based approaches. Modern simulators used for reinforcement learning (RL) cannot fully replicate the required contact complexity, while collecting dexterous demonstrations for imitation learning (IL) remains an open problem. In this research, we present an embodied control approach based on real-time task Jacobian estimation

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