Xing Wang

From Noisy Hands to Stable Grasps: Object-Centric Dexterous Retargeting

Retargeting human hand motions to dexterous robot hands from monocular video remains a challenging task due to the inherent noise, depth ambiguity, and frequent occlusions in vision-based hand pose estimation. Existing physicsbased methods often fail when the input reference trajectory violates physical constraints, le...