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

1 reports · 1 sources

dex-retargeting retargets human hand motion to robotic dexterous hands: using a Huber loss over wrist, fingertip, and bone vectors as the objective, it performs numerical optimization frame by frame to solve for the joint angles of each frame. DexPilot builds on this method by adding grasp detection, projected targets, and temporal low-pass filtering; it is reported that the Allegro and Shadow hands converge frame by frame at the millisecond level.

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  1. 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.

    Guyuehome ·

Related topics

Grasping and manipulationData and simulationGuides and practice

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