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HuTact: Pretraining Tactile-Aware Hand Representations from Human Hand-Object Interaction Data

The paper proposes the HuTact framework, which uses large-scale human hand-object interaction (HOI) data to pretrain tactile-aware hand representations. The pretraining stage requires no real tactile signals, and the model is then adapted with a small amount of unlabeled robot interaction data.

Part of the event: Proposes HuTact tactile-aware hand representation pretraining framework

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