arxivcs.RO2026-07-09
AnyDexRT: Calibration-Free Dexterous Hand Retargeting with Few-Shot Human Guidance
Chenxi Wang, Ying Feng, Hongjie Fang, Shangning Xia, Lixin Yang, Chuan Wen, et al.
Teleoperation is a key interface for controlling dexterous robotic hands and collecting demonstrations for imitation learning. Its effectiveness largely depends on kinematic retargeting, which maps operator hand motions to feasible and intuitive robot hand motions. Existing metho…