DexOAK: Object-Aware Kinematic Retargeting Framework
Overview
DexOAK is a learning-based framework that generates contact-consistent robot hand references from human motion-capture data. It uses an interaction-graph Laplacian objective to reproduce object-relative interaction geometry, and a feed-forward network conditioned on human keypoints and object point clouds to learn retargeting. Object-aware finetuning refines the network under contact, non-penetration, and self-collision losses, improving performance on tasks like OakInk-v2 and ARCTIC. The model transfers to unseen data and enables dexterous robot data generation from human data.
From arXiv Robotics — research abstracts
Event evidence and corrections
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Reported quantity · number of tasks: 5 other · Basis not reported
“mortized network refined with contact losses. Trained on OakInk-v2, it transfers to ARCTIC zero-shot and nears in-domain performance after fine-tuning. On hardware, 46/56 open-loop replays succeed across five tasks, enabling dexterous robot data generation from human data. Visualizations and interactive results are at: https://fspinola.github.io/dexoak/.”
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- 2026-10-30T22:17:52.382Z · evidence updated · source revision 1. Evidence extraction was updated; current source attributions are shown above.
- 2026-10-30T22:17:35.474Z · evidence updated · source revision 1. Evidence extraction was updated; current source attributions are shown above.
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- arXiv Robotics — research abstractsSignalDexOAK: Object-Aware Kinematic Retargeting
DexOAK is a learning-based framework that generates contact-consistent robot hand references from human motion-capture data. It uses an interaction-graph Laplacian objective to reproduce object-relative interaction geometry, and a feed-forward network conditioned on human keypoints and object point clouds to learn retargeting. Object-aware finetuning refines the network under contact, non-penetration, and self-collision losses, improving performance on tasks like OakInk-v2 and ARCTIC. The model transfers to unseen data and enables dexterous robot data generation from human data.
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