PACT: Posture-Aligned Co-Design Technique for Hand Configuration and Retargeting in Multi-Finger Imitation Learning

Koyo Sasazaki, Satoshi Funabashi, Pranav Ponnivalavan +3

The fidelity of teleoperated demonstrations used for imitation learning is determined by how faithfully a robot hand can replicate the operator's posture. The posture retargeting l…