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dex-retargeting: Vector retargeting optimization from human hands to dexterous hands

dex-retargeting analyzes motion retargeting from human hands to robotic dexterous hands, using a Huber loss on wrist-to-fingertip bone vectors as the objective for per-frame numerical optimization. DexPilot builds on this method by adding grasp detection, projected targets, and temporal low-pass filtering, with the Allegro and Shadow hands converging per frame at millisecond-level speed.

Part of the event: dex-retargeting: Vector retargeting optimization from human hands to dexterous hands

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