Dexterous Robot Manipulation from Human Demonstrations via Contact-Anchored Retargeting and Residual Policy Learning

arXiv:2609.24093 · cs.RO · Submitted 2026-09-21 · Read on arXiv

cs.RO

Submitted: 2026-09-21

Updated: 2026-09-21

Terminology

• Fidelity — 6× in this paper · explained in 2 episodes
• Reinforcement Learning — 4× in this paper · explained in 4 episodes
• Conference on Computer Vision and Pattern Recognition — 3× in this paper
• Consistency — 3× in this paper · explained in 3 episodes
• Generalization — 3× in this paper · explained in 13 episodes
• Benchmark — 2× in this paper · explained in 2 episodes
• Calibration — 2× in this paper · explained in 7 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• Action Space — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Data Augmentation — 1× in this paper · explained in 7 episodes
• Online Adaptation — 1× in this paper · explained in 3 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Transformer — 1× in this paper · explained in 2 episodes

Sources

• Glovity: Learning Dexterous Contact-Rich Manipulation via Spatial Wrench Feedback Teleoperation System
• SPIDER: Scalable Physics-Informed Dexterous Retargeting
• Proximal Policy Optimization Algorithms
• Residual Policy Learning
• DexCanvas: Bridging Human Demonstrations and Robot Learning for Dexterous Manipulation
• DemoBot: Efficient Learning of Bimanual Manipulation with Dexterous Hands From Third-Person Human Videos
• DexMachina: Functional Retargeting for Bimanual Dexterous Manipulation
• EgoScale: Scaling Dexterous Manipulation with Diverse Egocentric Human Data

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
• Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving