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title
Catch It! Learning to Catch in Flight with Mobile Dexterous Hands
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Catch It! Learning to Catch in Flight with Mobile Dexterous Hands
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Catch It! Learning to Catch in Flight with Mobile Dexterous Hands
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2026-03-04 07:28:12
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Catch It! Learning to Catch in Flight with Mobile Dexterous Hands Catch It! Learning to Catch in Flight with Mobile Dexterous Hands Yuanhang Zhang * Tianhai Liang * Zhenyang Chen Yanjie Ze Huazhe Xu ICRA 2025 CoRL 2024 LFDM Workshop (Outstanding Paper Nomination) arXiv Video Summary Code Abstract Catching objects in flight (i.e., thrown objects) is a common daily skill for humans, yet it presents a significant challenge for robots. This task requires a robot with agile and accurate motion, a large spatial workspace, and the ability to interact with diverse objects. In this paper, we build a mobile manipulator composed of a mobile base, a 6-DoF arm, and a 12-DoF dexterous hand to tackle such a challenging task. We propose a two-stage reinforcement learning framework to efficiently train a whole-body-control catching policy for this high-DoF system in simulation. The throwing configurations a...
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