# CARD: A Contact-Anchored Retargeting Framework for Dexterous Manipulation

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/vyahcidt6vpkkzh8cefq5r8l9
- Original: https://arxiv.org/abs/2610.36539

## Summary

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.