Kinematic Nonlinear Spatio-Temporal Trajectory Warping for Contact-Rich Dexterous Manipulation Demonstrations

arXiv:2609.36676 · cs.RO · Submitted 2026-09-29 · Read on arXiv

cs.RO

Submitted: 2026-09-29

Updated: 2026-09-29

Terminology

• International Conference on Robotics and Automation — 6× in this paper
• Data Augmentation — 5× in this paper · explained in 7 episodes
• Generalization — 5× in this paper · explained in 13 episodes
• Robustness — 3× in this paper · explained in 5 episodes
• Core — 2× in this paper · explained in 2 episodes
• Diffusion Model — 2× in this paper · explained in 8 episodes
• Diffusion Models — 2× in this paper · explained in 6 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Action Chunking — 1× in this paper · explained in 1 episode
• Adam — 1× in this paper · explained in 2 episodes
• Computational overhead — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Generative Models — 1× in this paper · explained in 2 episodes
• Multimodal Dataset — 1× in this paper · explained in 2 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes

Sources

• Visuo-Acoustic Hand Pose and Contact Estimation
• Dexterity from Smart Lenses: Multi-Fingered Robot Manipulation with In-the-Wild Human Demonstrations
• OSMO: Open-Source Tactile Glove for Human-to-Robot Skill Transfer
• ResPilot: Teleoperated Finger Gaiting via Gaussian Process Residual Learning
• Physically-based Lighting Generation for Robotic Manipulation
• Image Augmentation Is All You Need: Regularizing Deep Reinforcement Learning from Pixels
• GenAug: Retargeting behaviors to unseen situations via Generative Augmentation
• MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations
• DemoGen: Synthetic Demonstration Generation for Data-Efficient Visuomotor Policy Learning
• Self-Augmented Robot Trajectory: Efficient Imitation Learning via Safe Self-augmentation with Demonstrator-annotated Precision
• DexMachina: Functional Retargeting for Bimanual Dexterous Manipulation
• SPIDER: Scalable Physics-Informed Dexterous Retargeting
• OPENTOUCH: Bringing Full-Hand Touch to Real-World Interaction
• Neural MP: A Generalist Neural Motion Planner
• RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots

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• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
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• Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving