TopoRetarget uses a sparse interaction graph and distance-weighted Laplacian deformation optimization with kinematic and penetration constraints to retarget human demonstrations to dexterous hands while preserving task-relevant contacts.
Title resolution pending
1 Pith paper cite this work. Polarity classification is still indexing.
1
Pith paper citing it
fields
cs.RO 1years
2026 1verdicts
UNVERDICTED 1representative citing papers
citing papers explorer
-
TopoRetarget: Interaction-Preserving Retargeting for Dexterous Manipulation
TopoRetarget uses a sparse interaction graph and distance-weighted Laplacian deformation optimization with kinematic and penetration constraints to retarget human demonstrations to dexterous hands while preserving task-relevant contacts.