AI RESEARCH
Language Conditioned Multi-Finger Dexterous Manipulation Enabled by Physical Compliance and Switching of Controllers
arXiv CS.AI
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ArXi:2410.14022v2 Announce Type: replace-cross Human dexterity arises from combining high-level task reasoning with finger-level dexterity control and physical compliance at the muscle and skin layers. In robotics, large Vision-Language-Action (VLA) models nstrate text-conditioned high-level planning across diverse manipulation tasks, typically using pincher grippers. Smaller imitation-learning policies, conversely, show success in dexterous tasks using higher degree-of-freedom (DoF) grippers, but only for limited-scope tasks.