An egocentric vision pipeline with MediaPipe hand tracking and damped-least-squares IK achieves 86.7% success on structured pick-and-place for the SO-ARM101 robot but falls to 9.3% in real-world environments with occlusions.
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Vision-Based Hand Shadowing for Robotic Manipulation via Inverse Kinematics
An egocentric vision pipeline with MediaPipe hand tracking and damped-least-squares IK achieves 86.7% success on structured pick-and-place for the SO-ARM101 robot but falls to 9.3% in real-world environments with occlusions.