Preprint
Sep 2026
CosmoH2G: A Hand-to-Gripper Transfer Dataset and Baseline Method for Object Manipulation with Complex Spatial Movements
A scalable acquisition pipeline to collect hand-gripper paired demonstrations is introduced, governed by a rigorous protocol that prioritizes motion complexity and leverages a handheld gripper for seamless action mimicry, and enables stable and precise hand-to-gripper transfer of complex spatial manipulations.
Hong-Xia Zhao, Mu-Tian Xu, Ze-Yu Jin et al.
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