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cs.RO2026
OATH: Object-Agnostic Tracking for Dexterous Hands, Enabling Rapid Physics-based Retargeting
Solvin Sigurdson, Prasanna Sriganesh, Juan Borbon +3
Retargeting human demonstrations into dynamically feasible dexterous hand trajectories requires resolving complex contact physics, yet current methods either omit physical constrai…
cs.RO2026
Belief-Overlap Partial Inversion: Object-Centric Flow Replanning for Humanoid Loco-Manipulation
Chen Yu, Sudarshan S Harithas, Juan Borbon +2
People often learn how an unfamiliar object moves through a small exploratory push, using its response to guide their next motion. Inspired by this behavior, we study humanoids pus…
cs.RO2026
BRACE: Adapting Whole-Body References for Force and Terrain Aware Humanoid Motion Tracking
Sudarshan Harithas, Chen Yu, Juan Borbon +5
Whole-body tracking has become the interface through which operators drive humanoid robots, yet the references it consumes are recorded on level ground and carrying nothing, so the…