Kinematic-Tactile Aligned Dexterous Retargeting with Contact Wrench Space Alignment

Engineering notes

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Chinese explanation / 中文解读

中文解读待补充：本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

Human demonstrations provide a natural and scalable source of data for learning dexterous manipulation policies. However, existing retargeting methods primarily transfer human kinematics, while the tactile information underlying physical interaction is rarely preserved across embodiments. To address this limitation, we present a hierarchical three-stage framework for kinematic-tactile aligned dexterous retargeting. We use object-centric contact wrench space as a physical representation for tactile alignment between human and robot hands. The framework first aligns hand kinematics and contact geometry, and then constructs a human wrench support profile from tactile forces and contact geometry. Robot fingertip force targets are subsequently optimized to cover the human wrench support and converted into joint position corrections, yielding directly replayable robot hand trajectories. We evaluate the framework in simulation and real robot experiments across three pouring conditions. In the real robot experiments, our method achieves a 96.7\% replay success rate and higher wrench transfer fidelity than representative retargeting baselines. The framework enables physically grounded transfer of kinematic and tactile information from human demonstrations to robot hands, providing a path toward scalable learning of contact-rich dexterous manipulation.

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• Official / arXiv page
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