HiDex: A hierarchical framework for motion and contact planning in dexterous manipulation

Cheng, Xianyi, Sarvesh Patil, Zeynep Temel, Oliver Kroemer, and Matthew T. Mason. “Enhancing Dexterity in Robotic Manipulation via Hierarchical Contact Exploration.” IEEE Robotics and Automation Letters 9, no. 1 (2024): 390-397.