C. Wolfe

Morphometric Imitation: From Morphology and Contact Aware Hand Retargeting to Sim-to-Real Visuomotor Policy

Human hand-object interactions (HOIs) provide a rich source of demonstrations for dexterous manipulation, but learning directly from them presents challenges in bridging morphology gaps, ensuring dynamical feasibility, and sim-to-real deployment. We present Morphometric Imitation, a three-stage framework that transform...