Dexterous Manipulation Atlas
A living project surface for grasp synthesis, hand-object coordination, and embodied-agent data.
This project page is a living index rather than a frozen portfolio card. It binds together signals, papers, demos, and failure notes around one mechanism: representing dexterous manipulation as a typed interface between object state, hand state, and controller feedback.
Research Spine
- Representation: object-centric scene state plus hand-object contact structure.
- Interface: language and planning end at parameterized manipulation primitives; feedback controllers handle continuous execution.
- Credit assignment: demonstrations, physical constraints, and verifiable rollouts provide denser supervision than sparse task success.
Failure Boundary
The atlas should make failures visible: perception ambiguity, contact instability, control latency, and language-grounding mismatch are separate failure modes, not one averaged success rate.