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DTSTAMP:20260417T190157Z
LOCATION:West Building\, Rooms 118-120
DTSTART;TZID=America/Los_Angeles:20250813T092000
DTEND;TZID=America/Los_Angeles:20250813T093000
UID:siggraph_SIGGRAPH 2025_sess137_papers_688@linklings.com
SUMMARY:Designing Pin-pression Gripper and Learning its Dexterous Grasping
  with Online In-hand Adjustment
DESCRIPTION:Hewen Xiao and Xiuping Liu (Dalian University of Technology), 
 Hang Zhao (Wuhan University), Jian Liu (Shenyang University of Technology)
 , and Kai Xu (National University of Defense Technology (NUDT))\n\nWe intr
 oduce a pin-pression gripper featuring parallel-jaw fingers with 2D arrays
  of independently extendable pins, allowing instant shape adaptation to ta
 rget object geometry and dynamic in-hand re-orientation for enhanced grasp
  stability. Reinforcement learning with curriculum-based training enables 
 flexible, robust grasping and grasp-while-lift mode, validated by sim-to-r
 eal experiments with superior performance.\n\nInterest Area: Research & Ed
 ucation\n\nRecording: Livestreamed, Not Livestreamed, Recorded, Not Record
 ed\n\nRegistration Category: Full Conference, Virtual Access, Wednesday\n\
 nSession Chair: Paul Kry (McGill University)\n\n
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