Non-prehensile throwing lets a UR5e toss objects without grasping
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Loading videoA UR5e arm skips grasping and uses sliding and rolling contact on its end-effector to accelerate and launch objects toward targets. The RL policy is trained in simulation and transferred zero-shot to the real robot, handling objects up to 790 g with high success.
UR5e机械臂robot arm非抓取操作non-prehensile manipulation抛掷throwing强化学习reinforcement learning仿真到现实sim-to-real零样本迁移zero-shot transfer机器人操作robot manipulationNon-Prehensile ThrowingTwitter
Category: arm
Author: @heetezition
Date: 2026-09-02T00:00:00
Duration: 58.773s
Reference: https://arxiv.org/abs/2609.00771
