PACT: Posture-Aligned Co-Design Technique for Hand Configuration and Retargeting in Multi-Finger Imitation Learning

cs.RO

Submitted: 2026-10-13

Updated: 2026-10-13

Comments: 9 pages, 6 figures, 2 tables. Submitted to IEEE ICRA 2027. Project page: https://pact-hand-2027.github.io

Project page: https://pact-hand-2027.github.io

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Sources

• Generating Robot Hands from Human Demonstrations
• MIDAS Hand: Modular low-Impedance Direct-drive Anthropomorphic Sensing Hand
• Transformer Transformer: A Unified Model for Motion-Conditioned Robot Co-design
• Learning to Design Soft Hands using Reward Models
• Function-based Parametric Co-Design Optimization of Dexterous Hands
• From Power to Precision: Learning Fine-grained Dexterity for Multi-fingered Robotic Hands
• House of Dextra: Cross-embodied Co-design for Dexterous Hands
• Dexterous Teleoperation of 20-DoF ByteDexter Hand via Human Motion Retargeting
• HiFi-UMI: Learning Deployable Manipulation Policies from High-Fidelity UMI Data Alone

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