نسخة أولية وصول مفتوح
Gated Residual Body-Hand Coordination for Whole-Body Humanoid Teleoperation
Whole-body humanoid teleoperation commonly combines a motion-tracking policy with a separate dexterous-hand retargeter. However, independently generated commands do not explicitly preserve body-hand geometric relations, leading to mismatches in relative wrist poses and fingertip positions during bimanual interaction. W …