{"paper":{"title":"Hand-centric Human-to-Robot Trajectory Transfer from Video Demonstrations via Open-World Contact Localization","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Di Wen, Edgar Welte, Kunyu Peng, Rainer Stiefelhagen, Rania Rayyes, Yitian Shi, Yu Hu, Zhengqi Han, Zicheng Guo","submitted_at":"2026-06-09T11:53:29Z","abstract_excerpt":"Learning from human video demonstrations remains challenging due to noisy hand-object interactions, unseen objects with partial observation, and cross-embodiment discrepancy. To address these challenges, we present \\textit{HOWTransfer} (\\emph{H}and-\\emph{O}bject \\emph{O}pen-\\emph{W}orld Transfer), a hand-centric framework that distills human demonstrations into contact-aware, taxonomy-informed, and diverse robotic trajectories. Instead of relying on object-specific descriptions, vision-language queries, or explicit object-state tracking, \\emph{HOWTransfer} recovers temporally consistent 3D han"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.10743","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2606.10743/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}