SharpaWave robotic hand beats parallel grippers in peg insertion task
ankurhandos · x · 2026-08-25
Experiments show SharpaWave hands significantly outperform parallel grippers in peg insertion tasks, taking 5-10s versus 20-70s. Advantages include less need for precise grasp orientation and faster in-hand rotation. The results confirm a trend seen with TacMap and T-Rex: tactile policies achieve 8/10 success rate versus 3/10 for vision-only. Wave's per-fingertip sensors simulate effectively in IsaacLab, providing rich contact data.
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