Author

Satvik Sharma

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Preprint Sep 2026

One Demonstration, Many Objects: Generalizing Manipulation via Local Contact Geometry

DemoMimic (Dexterous Motion Mimic), a policy that manipulates objects by focusing on their geometry local to the contact points to improve sim-to-real consistency, yielding a single real-world policy that transfers across objects of varying shape, scale, mass, and friction wherever local contact structure is preserved.

Satvik Sharma, Samrat Sahoo, Huang Huang et al. · 3 citations · ⚡1

Preprint Aug 2026

Pre-training Visual Dexterity in Simulation

Simulation Pre-training for Dexterity (SPD) is introduced, a pre-training framework for dexterous manipulation that uses data entirely collected in simulation and outperforms training behavior cloning policies from scratch, showing that simulation teleoperation is a viable pre-training source for real-world dexterous m...

Sarthak Kamat, Adam Rashid, Satvik Sharma et al. · 0 citations