Geometric Retargeting: A Principled, Ultrafast Neural Hand Retargeting Algorithm
We introduce Geometric Retargeting (GeoRT), an ultrafast, and principled neural hand retargeting algorithm for teleoperation, developed as part of our recent Dexterity Gen (DexGen) system. GeoRT converts human finger keypoints to robot hand keypoints at 1KHz, achieving state-of-the-art speed and accuracy with significantly fewer hyperparameters. This high-speed capability enables flexible postprocessing, such as leveraging a foundational controller for action correction like DexGen. GeoRT is trained in an unsupervised manner, eliminating the need for manual annotation of hand pairs. The core of GeoRT lies in novel geometric objective functions that capture the essence of retargeting: preserving motion fidelity, ensuring configuration space (C-space) coverage, maintaining uniform response through high flatness, pinch correspondence and preventing self-collisions. This approach is free from intensive test-time optimization, offering a more scalable and practical solution for real-time hand retargeting.
Code (0)
등록된 구현이 없습니다.
Methods 이 논문이 사용한 방법론
Similar Papers 제목 키워드 기반
ObjRetarget: An Object-Aware Motion Retargeting Framework with Anthropomorphic Arm Constraints and Polyhedral Hand Modeling
Learning robot dexterous manipulation from human manipulation videos requires reliably retargeting human intent to executable robot actions while maintaining stable hand-object contact, which remains a key challenge in e…
Reinforcement LearningSkinned Motion Retargeting with Dense Geometric Interaction Perception
Capturing and maintaining geometric interactions among different body parts is crucial for successful motion retargeting in skinned characters. Existing approaches often overlook body geometries or add a geometry correct…
motion retargetingReal-Time Retargeting Using Controllability Boundary for Chandrayaan-3 Lunar Landing
This paper presents the real-time retargeting guidance policy developed for the Chandrayaan-3 lunar landing mission. The baseline guidance generates approximate fuel-optimal descent trajectories, while a high-level polic…
A Closed-Form Geometric Retargeting Solver for Upper Body Humanoid Robot Teleoperation
Retargeting human motion to robot poses is a practical approach for teleoperating bimanual humanoid robot arms, but existing methods can be suboptimal and slow, often causing undesirable motion or latency. This is due to…
Robot ManipulationAnyDexRT: Calibration-Free Dexterous Hand Retargeting with Few-Shot Human Guidance
Teleoperation is a key interface for controlling dexterous robotic hands and collecting demonstrations for imitation learning. Its effectiveness largely depends on kinematic retargeting, which maps operator hand motions …