A cross-embodiment force-position interface with system-identified torque calibration enables a flow-matching policy to perform transferable compliant grasping on heterogeneous dexterous hands.
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Transferring Contact, Not Just Motion: Compliant Grasping Across Dexterous Hands
A cross-embodiment force-position interface with system-identified torque calibration enables a flow-matching policy to perform transferable compliant grasping on heterogeneous dexterous hands.
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