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About this paper
Robert Jomar Malate, Erik Bauer, Norica Bacuieti, Stefanos Charalambous, Elvis Nava, Robert K. Katzschmann, Benedek Forrai
Smooth Operator’s SBR maps hand motion to robot-finger commands by sampling configurations, scoring them, and favoring lower-cost poses. In an optimizer ablation, sampling produced similar tracking loss and 36.4% lower joint-acceleration jitter than single-start SLSQP. Across tasks, SBR had the highest pooled success and lowest workload, but did not significantly beat Hybrid on success and took longer than DexPilot and Hybrid.
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