Morphometric Imitation: From Morphology and Contact Aware Hand Retargeting to Sim-to-Real Visuomotor Policy

arXiv:2609.28660 · cs.RO · Submitted 2026-09-23 · Read on arXiv

cs.RO

Submitted: 2026-09-23

Updated: 2026-09-25

Terminology

• Robustness — 7× in this paper · explained in 5 episodes
• Benchmark — 6× in this paper · explained in 2 episodes
• Distillation — 5× in this paper · explained in 2 episodes
• Point Clouds — 5× in this paper · explained in 2 episodes
• Reinforcement Learning — 5× in this paper · explained in 4 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Aggregation — 3× in this paper · explained in 1 episode
• Consistency — 3× in this paper · explained in 3 episodes
• Accuracy — 2× in this paper · explained in 1 episode
• Alignment — 2× in this paper · explained in 1 episode
• F1 Score — 2× in this paper · explained in 3 episodes
• Fidelity — 2× in this paper · explained in 2 episodes
• Reinforcement Learning (RL) — 2× in this paper · explained in 25 episodes
• Reward Function — 2× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Exponential Moving Average (EMA) — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Latent Space — 1× in this paper · explained in 7 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Sim-to-Real Gap — 1× in this paper · explained in 6 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
• Temporal consistency — 1× in this paper · explained in 2 episodes

Sources

• EgoScale: Scaling Dexterous Manipulation with Diverse Egocentric Human Data
• AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System
• TopoRetarget: Interaction-Preserving Retargeting for Dexterous Manipulation
• A Minimalist Retargeting-Guided Reinforcement Learning Recipe for Dexterous Manipulation
• SPIDER: Scalable Physics-Informed Dexterous Retargeting
• Object-Centric Dexterous Manipulation from Human Motion Data
• Hand-Object Interaction Pretraining from Videos
• Crossing the Human-Robot Embodiment Gap with Sim-to-Real RL using One Human Demonstration
• DexMachina: Functional Retargeting for Bimanual Dexterous Manipulation
• SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulation
• Geometric Retargeting: A Principled, Ultrafast Neural Hand Retargeting Algorithm
• DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation
• Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations
• Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning
• Open-TeleVision: Teleoperation with Immersive Active Visual Feedback
• Robotic Telekinesis: Learning a Robotic Hand Imitator by Watching Humans on Youtube
• ResPilot: Teleoperated Finger Gaiting via Gaussian Process Residual Learning
• Visual Imitation Enables Contextual Humanoid Control
• Embodied Hands: Modeling and Capturing Hands and Bodies Together

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