A transformer fusing RGB-D observations with proprioception estimates binary hand-object contact states, replacing hardware tactile sensors with a learned pseudo-tactile signal. The predicted contacts drive downstream RL for in-hand object reorientation, generalize zero-shot to novel objects, and are validated on a real robot.
@inproceedings{patil2026nocontactnoworries,title={NoContactNoWorries: Estimating Contact through Vision and Proprioception for In-Hand Dexterous Manipulation},author={Patil, Soham and Das, Avirup and Bhosale, Sourabh and Roy, Spandan},booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},year={2026},}
preprint 2026
AnyViewDex: View-Invariant Dexterous Manipulation from RGB Observations
Soham Patil, O. S. Gunjal, Sourabh Bhosale, A. Chavare, R. S. Hora, and Spandan Roy
Visuomotor dexterous policies are notoriously brittle to camera viewpoint shifts; regularizing a 2D monocular backbone with privileged 3D geometric supervision from simulation resolves this without depth sensors at test time. Zero-shot sim-to-real transfer on an xArm7 with a 16-DoF LEAP Hand achieves 76.7% grasping success across eight unseen objects and six uncalibrated viewpoints.
@misc{patil2026anyviewdex,title={AnyViewDex: View-Invariant Dexterous Manipulation from RGB Observations},author={Patil, Soham and Gunjal, O. S. and Bhosale, Sourabh and Chavare, A. and Hora, R. S. and Roy, Spandan},year={2026},}
IROS 2026
AeroGrab: A Unified Framework for Aerial Grasping in Cluttered Environments
An end-to-end aerial grasping pipeline for cluttered environments: a language instruction selects the target, the platform actively repositions for better views, a grasp network proposes 6-DoF candidates per view, and collision-aware feasibility checking selects the one to execute. Validated on a real aerial manipulator in cluttered scenes.
@inproceedings{singh2026aerograb,title={AeroGrab: A Unified Framework for Aerial Grasping in Cluttered Environments},author={Singh, Shivansh Pratap and Nair, Naveen Sudheer and Ujjawal, Samaksh and Mishra, Sarthak and Patil, Soham and Yadav, Rishabh Dev and Roy, Spandan},booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},year={2026},}
