ArtManip: category-level in-hand manipulation of articulated objects
siyuanhuang95 · x · 2026-09-16
ArtManip tackles category-level in-hand manipulation of articulated objects (knives, staplers, lighters, tongs), where a robot must drive internal joints while keeping a stable grasp on a free-floating object. It generalizes by learning across object instances and diverse initial grasps rather than a single configuration.
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