OmniHOI: Dexterous Hand-Object Interaction from Monocular Human Video

arXiv:2610.10855 · cs.RO · Submitted 2026-10-07 · Read on arXiv

cs.RO

Submitted: 2026-10-07

Updated: 2026-10-07

Code: https://github.com/wuji-technology/wuji-retargeting

Project page: https://hydrofoooil.github.io/OmniHOI

Terminology

• Computer Vision and Pattern Recognition — 13× in this paper
• Alignment — 9× in this paper · explained in 1 episode
• In Conference on Robot Learning — 5× in this paper
• Ablation — 4× in this paper · explained in 1 episode
• Adaptive Sampling — 3× in this paper · explained in 1 episode
• Benchmark — 3× in this paper · explained in 2 episodes
• Consistency — 3× in this paper · explained in 3 episodes
• Adam — 2× in this paper · explained in 2 episodes
• Adaptation — 2× in this paper · explained in 1 episode
• Fidelity — 2× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• In International Conference on Learning Representations — 2× in this paper
• Transformer — 2× in this paper · explained in 2 episodes
• 6D Object Pose Estimation — 1× in this paper · explained in 1 episode
• Accuracy — 1× in this paper · explained in 1 episode
• Affordance — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• CVF International Conference on Computer Vision — 1× in this paper
• Failure Modes — 1× in this paper · explained in 3 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Reconstruction Error — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes

Sources

• Dexterous Manipulation Policies from RGB Human Videos via 3D Hand-Object Trajectory Reconstruction
• V2P-Manip: Learning Dexterous Manipulation from Monocular Human Videos
• Dexterity from Smart Lenses: Multi-Fingered Robot Manipulation with In-the-Wild Human Demonstrations
• Predictive Sampling: Real-time Behaviour Synthesis with MuJoCo
• DexMan: Learning Bimanual Dexterous Manipulation from Human and Generated Videos
• MoGe-3: Fine-Detail Monocular Geometry Estimation with Self-Guided Sparse Volumetric Refinement
• EgoZero: Robot Learning from Smart Glasses
• Do as I Do: Dexterous Manipulation Data from Everyday Human Videos
• SPIDER: Scalable Physics-Informed Dexterous Retargeting
• Accelerating 3D Deep Learning with PyTorch3D
• Reconstructing Hand-Held Objects in 3D from Images and Videos
• OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction

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