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CARD: A Contact-Anchored Retargeting Framework for Dexterous Manipulation

CARD is a simulator- and object-model-free framework that retargets human demonstrations into robot actions by explicitly preserving contact force targets, and it handles video, motion capture, and tactile glove data in a unified way. On video, glove, and motion-capture data and the GRAB dataset, CARD maintains contact on 43%–78% of contact frames, whereas purely kinematic and object-aware retargeting methods stay below 10% and 22.5%, respectively.

Part of the event: CARD: A Contact-Anchored Retargeting Framework Without Simulation or Object Models

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