YOCO: You Only Calibrate Once! Fast Mocap Calibration for Dexterous Teleoperation

arXiv:2610.11657 · cs.RO · Submitted 2026-10-08 · Read on arXiv

cs.RO

Submitted: 2026-10-08

Updated: 2026-10-08

Terminology

• Calibration — 108× in this paper · explained in 7 episodes
• Hypernetwork — 21× in this paper · explained in 2 episodes
• Adaptation — 18× in this paper · explained in 1 episode
• Transformer — 12× in this paper · explained in 2 episodes
• Fine-Tuning — 10× in this paper · explained in 5 episodes
• Accuracy — 9× in this paper · explained in 1 episode
• Alignment — 4× in this paper · explained in 1 episode
• Fidelity — 3× in this paper · explained in 2 episodes
• In International Conference on Learning Representations — 3× in this paper
• LoRA Adapters — 3× in this paper · explained in 3 episodes
• Apple Vision Pro — 2× in this paper
• Generalization — 2× in this paper · explained in 13 episodes
• Personalization — 2× in this paper · explained in 2 episodes
• alpha — 2× in this paper · explained in 1 episode
• Adam — 1× in this paper · explained in 2 episodes
• Aggregation — 1× in this paper · explained in 1 episode
• Computer Vision and Pattern Recognition — 1× in this paper
• Consistency — 1× in this paper · explained in 3 episodes
• Continual Learning — 1× in this paper · explained in 2 episodes
• Decode — 1× in this paper · explained in 2 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Distribution Shift — 1× in this paper · explained in 5 episodes
• IEEE International Conference on Computer Vision — 1× in this paper
• LoRA Adaptation — 1× in this paper · explained in 2 episodes
• LoRA Fine-Tuning — 1× in this paper · explained in 3 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Sample Efficiency — 1× in this paper · explained in 4 episodes
• Temporal consistency — 1× in this paper · explained in 2 episodes
• Transferability — 1× in this paper · explained in 4 episodes

Sources

• FSGlove: An Inertial-Based Hand Tracking System with Shape-Aware Calibration
• Transformer IMU Calibrator: Dynamic On-body IMU Calibration for Inertial Motion Capture
• Human-Exoskeleton Kinematic Calibration to Improve Hand Tracking for Dexterous Teleoperation
• MediaPipe Hands: On-device Real-time Hand Tracking
• InterHand2.6M: A Dataset and Baseline for 3D Interacting Hand Pose Estimation from a Single RGB Image
• Learning Visuotactile Skills with Two Multifingered Hands
• OPEN TEACH: A Versatile Teleoperation System for Robotic Manipulation
• Learning to Transfer Human Hand Skills for Robot Manipulations
• Geometric Retargeting: A Principled, Ultrafast Neural Hand Retargeting Algorithm
• RAPID Hand: A Robust, Affordable, Perception-Integrated, Dexterous Manipulation Platform for Generalist Robot Autonomy
• DEXOP: A Device for Robotic Transfer of Dexterous Human Manipulation
• Hyper-GoalNet: Goal-Conditioned Manipulation Policy Learning with HyperNetworks
• RoFormer: Enhanced Transformer with Rotary Position Embedding
• Scalable Diffusion Models with Transformers

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