# In-hand object pose reaching strategy and safety filter for the LEAP dexterous hand

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/ssalmnic7k7pgzt7xci6vazqp
- Original: https://arxiv.org/abs/2610.37652

## Summary

The research team proposed a training recipe for in-hand object pose reaching with the LEAP dexterous hand. It trains in simulation without human data and, after system identification, transfers zero-shot to the real robot, using either motion capture or a single wrist-mounted monocular depth camera. In a real-robot evaluation with 4 objects and 4,800 unseen targets over 13.3 hours, the state-based policy reached 95.2% of targets within 2 cm and 0.4 rad; adding a learned residual safety filter with adjustable conservativeness reduced drops by 75% while still reaching 91.5% of targets.