Zi-Hao Yang

Dexterous Robot Manipulation from Human Demonstrations via Contact-Anchored Retargeting and Residual Policy Learning

Learning dexterous manipulation from demonstrations is bottlenecked by data: the contact forces that determine whether a grasp succeeds are absent from every scalable source of human demonstrations. This paper builds on two observations. First, what survives the change from a human hand to a robot hand is the contact s...