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    "story_id": "mp-2026-10-29-002",
    "source_story_id": "tmp-feature-safe-in-hand-pose-reaching",
    "edition_id": "mp-2026-10-29-morning-0111",
    "edition_url": "https://themachinepress.com/edition/2026-10-29",
    "position": 2,
    "story_type": "secondary",
    "section": "robotics",
    "editorial_classification": "editorial",
    "headline": "The Hand Reaches Further—and Drops Less",
    "slug": "the-hand-reaches-further-and-drops-less",
    "dek": "Across 4,800 unseen goals, a simulated-to-real LEAP hand reached 95.2 percent within tolerance; an adjustable residual safety filter cut object drops by 75 percent.",
    "summary": "Across 4,800 unseen goals, a simulated-to-real LEAP hand reached 95.2 percent within tolerance; an adjustable residual safety filter cut object drops by 75 percent.",
    "body_text": "In-hand pose reaching asks a robot hand to move an object to many positions and orientations without releasing it, including through long sequences and changing wrist poses. The researchers train a LEAP-hand policy entirely in simulation using generated grasp resets, broad goals and an adaptive friction curriculum, then transfer it to a physical hand with either motion capture or a wrist depth camera. Across 13.3 hours, four objects and 4,800 unseen goals, the state-based policy reached 95.2 percent within two centimeters and 0.4 radians. A learned residual safety filter reduced drops by 75 percent while still reaching 91.5 percent of goals. The reported demonstrations include lightbulb turning and perturbations, but remain results for this hand, setup and object set.",
    "why_it_matters": "Across 4,800 unseen goals, a simulated-to-real LEAP hand reached 95.2 percent within tolerance; an adjustable residual safety filter cut object drops by 75 percent.",
    "limitations": [
      "The reported demonstrations include lightbulb turning and perturbations, but remain results for this hand, setup and object set."
    ],
    "importance": 10,
    "canonical_url": "https://themachinepress.com/story/mp-2026-10-29-002/the-hand-reaches-further-and-drops-less",
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    "first_published_at": "2026-10-29T09:00:00.000-04:00",
    "modified_at": "2026-10-29T09:00:00.000-04:00",
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        "text": "Across 4,800 unseen goals, a simulated-to-real LEAP hand reached 95.2 percent within tolerance; an adjustable residual safety filter cut object drops by 75 percent.",
        "source_ids": [
          "source-2026-10-29-002"
        ],
        "qualification": "The reported demonstrations include lightbulb turning and perturbations, but remain results for this hand, setup and object set."
      }
    ],
    "source_ids": [
      "source-2026-10-29-002"
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    "tags": [
      "robotics",
      "dexterous manipulation",
      "safety",
      "sim-to-real"
    ],
    "image_url": "https://themachinepress.com/issues/2026-10-29/feature-safe-in-hand-pose-reaching.png",
    "corrections": []
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  "sources": [
    {
      "source_id": "source-2026-10-29-002",
      "title": "arXiv preprint 2610.37652, original v1",
      "publisher": "arXiv",
      "url": "https://arxiv.org/abs/2610.37652v1",
      "canonical_url": "https://arxiv.org/abs/2610.37652v1",
      "source_type": "primary_research",
      "is_primary_source": true,
      "published_at": "2026-10-26T20:00:00.000-04:00",
      "accessed_at": "2026-10-29T08:20:13.210-04:00",
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  "publisher": {
    "name": "The Machine Press",
    "url": "https://themachinepress.com",
    "description": "A daily newspaper for the age of artificial intelligence."
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  "cite_this_report": {
    "title": "The Hand Reaches Further—and Drops Less",
    "publisher": "The Machine Press",
    "published_at": "2026-10-29T09:00:00.000-04:00",
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