DexTwist detects tripod pinches, estimates the intended screw axis and twist magnitude, then applies real-time joint refinement to track turning progress while stabilizing the robot's tripod geometry.
Deep imitation learning for humanoid loco-manipulation through human teleoperation
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DexTwist: Dexterous Hand Retargeting for Twist Motion via Mixed Reality-based Teleoperation
DexTwist detects tripod pinches, estimates the intended screw axis and twist magnitude, then applies real-time joint refinement to track turning progress while stabilizing the robot's tripod geometry.