See to Reach, Feel to Grasp: Learning A Blind Grasp Reflex for Anthropomorphic Robotic Hands

Abstract:In this work we study if a robotic hand using proprioception alone can grasp diverse objects with no visual observation. We present a modular dexterous grasping architecture that separates global arm motion from local contact control. An independently controlled arm guides the hand toward the object, while a reinforcement learning policy grasps and stabilizes it using only hand proprioceptive feedback. We call this \textit{a blind grasp reflex}: grasping without images, object poses, or geometric observations. A learned stable-grasp score determines when the object is securely held, allowing the arm to begin post-grasp manipulation. This separation makes grasping a reusable hand-level skill that can be combined with independently designed arm controllers for various manipulation tasks. Experiments in simulation and on hardware demonstrate robust blind grasping across diverse objects and seamless composition with a range of arm controllers. Moreover, despite never observing contact geometry, the learned grasp score closely aligns with an independent physics-based measure of grasp stability. The resulting approach follows a simple principle: see to reach, feel to grasp. Project page: this https URL.

Robotics (cs.RO)

arXiv:2609.31323 [cs.RO]

(or arXiv:2609.31323v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.31323 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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