EgoCPT: Learning Dexterous Manipulation from a Single Ego-Centric Video with Contact-Aware Optimization
cs.RO
Submitted: 2026-10-13
Updated: 2026-10-13
Code: https://github.com/NVlabs/FoundationPose
Project page: https://ego-cpt.github.io/Abstract
License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
Sources
- EgoDex: Learning Dexterous Manipulation from Large-Scale Egocentric Video
- Learning to Transfer Human Hand Skills for Robot Manipulations
- Motion Tracks: A Unified Representation for Human-Robot Transfer in Few-Shot Imitation Learning
- Geometric Retargeting: A Principled, Ultrafast Neural Hand Retargeting Algorithm
- DexH2R: Task-oriented Dexterous Manipulation from Human to Robots
- A Minimalist Retargeting-Guided Reinforcement Learning Recipe for Dexterous Manipulation
- Universal Manipulation Exoskeleton: Learning Compliant Whole-body Policies with Real-time Torque Feedback
- DexFlow: A Unified Approach for Dexterous Hand Pose Retargeting and Interaction
- TopoRetarget: Interaction-Preserving Retargeting for Dexterous Manipulation
- ObjRetarget: An Object-Aware Motion Retargeting Framework with Anthropomorphic Arm Constraints and Polyhedral Hand Modeling
- C2Dex: Contact-Consistent Reconstruction and Retargeting for Dexterous Manipulation from Monocular Video
- SPIDER: Scalable Physics-Informed Dexterous Retargeting
- Learning Dexterous Manipulation Using Contact Wrench Guidance From Human Demonstration
- DexMachina: Functional Retargeting for Bimanual Dexterous Manipulation
- Dexplore: Scalable Neural Control for Dexterous Manipulation from Reference-Scoped Exploration
- You Only Teach Once: Learn One-Shot Bimanual Robotic Manipulation from Video Demonstrations
- Crossing the Human-Robot Embodiment Gap with Sim-to-Real RL using One Human Demonstration
- Dexterous Manipulation Policies from RGB Human Videos via 3D Hand-Object Trajectory Reconstruction
- DexMan: Learning Bimanual Dexterous Manipulation from Human and Generated Videos
- DemoBot: Efficient Learning of Bimanual Manipulation with Dexterous Hands From Third-Person Human Videos
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