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Morphometric Imitation: From Morphology and Contact Aware Hand Retargeting to Sim-to-Real Visuomotor Policy
Human hand-object interactions (HOIs) provide a rich source of demonstrations for dexterous manipulation, but learning directly from them presents challenges in bridging morphology gaps, ensuring dynamical feasibility, and sim-to-real deployment. We present Morphometric Imitation, a three-stage fram
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