Author

Dongyoon Hwang

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Preprint Oct 2026

FlashDexRetarget: Accelerating Dexterous Manipulation Data Generation through Multi-Motion Retargeting

Human hand-object demonstrations offer a reusable source of dexterous robot manipulation data, but transferring them across embodiments requires physically feasible retargeting. Existing physics-based approaches face limitations in retargeting success, motion-specific training efficiency, or both. To address these limi...

Kyungmin Lee, Sibeen Kim, Dongyoon Hwang et al. · 0 citations

#robotics Preprint Jul 2026

See like a Robot: Robot-Centric Pointmaps for Vision-Language-Action Models

Vision-language-action (VLA) models predict robot actions from visual observations and language instructions. These actions are defined in the robot's own 3D coordinate frame, yet most VLAs observe the scene in the camera frame, creating a frame mismatch between where the scene is observed and where actions are defined...

Byungkun Lee, Dongyoon Hwang, Dongjin Kim et al. · 1 citation