Robot Hand Learns In-Hand Pen Writing in 18 Seconds
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Loading videoETH Zurich's controller estimates the hand-object task Jacobian from about 18 seconds of real motion, enabling in-hand pen writing without simulation or demonstrations, with roughly 0.6 mm mean tracking error.
Dexterous ManipulationIn-Hand ManipulationJacobian EstimationRobot HandSoft Robotics LabETH ZuricharXiv
Category: arm
Author: @heetezition
Date: 2026-09-12T00:00:00
Duration: 45.8s
Reference: https://arxiv.org/abs/2609.11775
