Hand2Robot: Object-Centric 4D Hand Reconstruction for Robotics
Overview
Hand2Robot reconstructs 4D hand motion from human demonstrations to guide robot actions. It improves object pose accuracy and interaction quality on DexYCB and HO3D-v3, with real-robot tasks showing effective data supplementation for policy training. (2026-10-14).
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- arXiv Robotics — research abstractsHand2Robot: Object-Centric 4D Hand Reconstruction from Human Demonstrations for Robotics
Hand2Robot is a framework that reconstructs 4D hand motion from human demonstrations to provide robot action supervision. It extracts interaction clips, reconstructs object geometry, and optimizes hand-object interactions for robot policy post-training. Experiments on DexYCB and HO3D-v3 show improved object pose accuracy and interaction quality, with real-robot tasks demonstrating effective data supplementation for policy training.
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