Author

Prasanna Sriganesh

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Preprint Oct 2026

OATH: Object-Agnostic Tracking for Dexterous Hands, Enabling Rapid Physics-based Retargeting

This work reframes physics-based retargeting as a residual learning problem, where it is demonstrated that zero-shot generalization across objects relies on structured state representations and produces a physics-based retargeter, OATH.

S. Sigurdson, Prasanna Sriganesh, Juan Borbon et al. · 0 citations