arxivcs.RO2026-07-08
Smooth Operator: A Real-Time Sampling-Based Algorithm for Kinematic Hand Retargeting
Robert Jomar Malate, Erik Bauer, Norica Bacuieti, Stefanos Charalambous, Elvis Nava, Robert K. Katzschmann, et al.
Advances in learning-based robotic manipulation, such as Vision-Language-Action (VLA) models and Video Action Models (VAMs), heavily rely on high-quality teleoperation data. Their capabilities are strictly upper-bounded by the quality of the underlying human demonstrations. Curre…