2 papers
cs.RO2026
GRASP: Gradient-Guided Sampling for Contact-Rich Physics-Based Motion Retargeting
Yang Liu, Tong Wang, Yiming Bao +1
We study physics-based retargeting of human demonstrations for robot learning: finding robot controls that reproduce reference motions under contact dynamics. We propose GRASP (Gra…
cs.RO2026
DexImit: Learning Bimanual Dexterous Manipulation from Monocular Human Videos
Juncheng Mu, Sizhe Yang, Yiming Bao +6
Data scarcity fundamentally limits the generalization of bimanual dexterous manipulation, as real-world data collection for dexterous hands is expensive and labor-intensive. Human…