Author

Haozhi Qi

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Preprint Sep 2026

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...

Tara Sadjadpour, Si-Ming He, C. Wolfe et al. · 0 citations

#artificial intelligence Preprint Oct 2026

Reconstruct, Practice, Go Real: Guided Self-Improvement for Embodied Agents

Building reliable robot capabilities across diverse tasks requires substantial human effort to develop and maintain skills, design rewards, and integrate perception with control. We present Reconstruct, Practice, Go Real (RPG), a framework for autonomous improvement of robot execution systems without updating model wei...

Yen-Jen Wang, Hao-Zhe Jiang, Shu-Ying Deng et al. · 0 citations