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SpatialDex: Pre-training 3D-Grounded Bimanual Dexterous Manipulation from RGB-Only Human Videos

SpatialDex is a framework that learns 3D-grounded bimanual dexterous manipulation from RGB-only human videos through reconstruction-augmented visuomotor pre-training, learning human behavior together with its spatial context. It reconstructs scene geometry and estimates hand motion from each video, aligns the two at a video-level scale using the hand-size prior of 3D hand estimates, and uses the reconstructed geometry as both a policy input and a prediction target.

Part of the event: SpatialDex pretrains bimanual dexterous manipulation using human videos

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