Kinematic-Tactile Aligned Dexterous Retargeting with Contact Wrench Space Alignment
Kinematic-Tactile Aligned Dexterous Retargeting with Contact Wrench Space Alignment
This research presents a three-stage framework for dexterous retargeting that aligns human and robot hand kinematics and tactile information through contact wrench space. The method achieves 96.7% replay success in real robot experiments, demonstrating effective transfer of physical interaction data for manipulation tasks.
This paper introduces a hierarchical framework for dexterous retargeting that aligns both kinematic and tactile information between human demonstrations and robot hands, achieving high replay success in real-world experiments.
Source: arXiv Robotics — research abstracts · Read original article ↗
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and converted into joint position corrections, yielding directly replayable robot hand trajectories. We evaluate the framework in simulation and real robot experiments across three pouring conditions. In the real robot experiments, our method achieves a 96.7\% replay success rate and higher wrench transfer fidelity than representative retargeting baselines. The framework enables physically grounded transfer of kinem
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and converted into joint position corrections, yielding directly replayable robot hand trajectories. We evaluate the framework in simulation and real robot experiments across three pouring conditions. In the real robot experiments, our method achieves a 96.7\% replay success rate and higher wrench transfer fidelity than representative retargeting baselines. The framework enables physically grounded transfer of kinem
Open source S4
arXiv:2610.39582v1 Announce Type: new Abstract: Human demonstrations provide a natural and scalable source of data for learning dexterous manipulation policies. However, existing retargeting methods primarily transfer human kinematics, while the tactile information underlying physical interaction is rarely preserved across embodiments. To address this limitation, we present a hierarchical three-stage framework for ki
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Kinematic-Tactile Aligned Dexterous Retargeting with Contact Wrench Space Alignment
Open source S1
nematic-tactile aligned dexterous retargeting. We use object-centric contact wrench space as a physical representation for tactile alignment between human and robot hands. The framework first aligns hand kinematics and contact geometry, and then constructs a human wrench support profile from tactile forces and contact geometry. Robot fingertip force targets are subsequently optimized to cover the human wrench support
Open source S3
Source：arXiv Robotics — research abstracts · arxiv.org