# CIMI: Transferring Dexterous Manipulation Skills Through Contact Unfolding

- Source: arXiv cs.RO
- Published: 2026-11-02T05:00:00.000Z
- RoboHot: https://robohot.news/en/items/iixxjz00mfboe731k7jkfd55n
- Original: https://arxiv.org/abs/2610.41028

## Summary

The authors propose the Contact Imitation Interface (CIMI) framework, which uses contact geometry and fingertip RGB views to build a robot-free human demonstration interface and transfers skills to a robot hand through contact-alignment-first retargeting.