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SA-DEM: Dexterous Extrinsic Robotic Manipulation of Non-Graspable Objects via Stiffness-Aware Dual-Stage Reinforcement Learning

Yanzhe Wang, Wei Yu, Hao Wu, Haotian Guo, Huixu Dong. SA-DEM: Dexterous Extrinsic Robotic Manipulation of Non-Graspable Objects via Stiffness-Aware Dual-Stage Reinforcement Learning. IEEE T. Automation Science and Engineering, 23:347-362, 2026. [doi]

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