Reproduce “CARD: Contact-Anchored Retargeting for Dexterous Manipulation” on OpenResearch
Turn your favorite coding agents into research agents that review literature, develop hypotheses, and run experiments.
Universal app for Apple silicon and Intel. Requires macOS 11 or later.
About this paper
Cunxi Dai, Botao He, Francois R Hogan, Wei Pan, Rao Fu, Wen-Han Hsieh, Ruoshi Liu, Jitendra Malik and 2 more
CARD transfers human hand motion and contact intent to robot hands by encoding touch location, push direction, and force on semantic hand regions, then optimizing joint targets to align robot pads with those contacts. On 20 monocular-video clips retargeted to SHARPA Wave, CARD established contact on 61.4% of anchor-frames, versus 9.7% for DexPilot; this is geometric fidelity, not task success.
Summary by alphaXiv.
Tip: change arxiv.org to autoarxiv.org in any arXiv abstract link to open the paper here.