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cs.RO2026
Kinematic-Tactile Aligned Dexterous Retargeting with Contact Wrench Space Alignment
Xinyuan He, Ziheng Xu, Yueyuan Chen +6
Human demonstrations provide a natural and scalable source of data for learning dexterous manipulation policies. However, existing retargeting methods primarily transfer human kine…
cs.RO2026
OccluDex: Hierarchical 3D Visuo-Tactile Representation Learning for Egocentric Dexterous Manipulation under Self-Occlusion
Ziheng Xu, Yueyuan Chen, Xinyuan He +6
Reliable dexterous manipulation requires continuous estimation of object geometry and hand-object contact throughout interaction. With egocentric sensing, however, the manipulating…