Event

CIMI Achieves Robot-Free Dexterous Manipulation Transfer

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Zhixuan Xu and other authors propose the Contact Imitation Interface (CIMI) framework, which enables humans to perform dexterous manipulation demonstrations without the aid of a robot and transfers the skills to a robotic hand. The framework's demonstration interface combines shared contact geometry with fingertip RGB views, first performing contact-aligned retargeting and then reprojecting a wider scene view; the learning interface adopts a hierarchical policy, in which a contact-surface planner predicts relative contact-surface trajectories and a controller coordinates wrist and finger commands to improve contact alignment. The authors report that on two hands, LEAP and Wuji, across six hand-task pairings, the method improves the average final-stage success rate by at least 50 percentage points compared with baseline policies. The hardware design and software have been made public.