نسخة أولية وصول مفتوح
Generative Neural Retargeting for Human-to-Robot Dexterous Manipulation
Human demonstrations are a scalable data source for learning dexterous manipulation, but the embodiment gap prevents human motion from being executed directly on robots. Inverse kinematics (IK) retargets human motion to robots efficiently but ignores dynamics, often producing infeasible motions. Reinforcement learning …