C2Dex: Contact-Consistent Reconstruction and Retargeting for Dexterous Manipulation from Monocular Video
High-quality demonstrations for dexterous robot manipulation are costly and difficult to collect, whereas monocular human videos provide a scalable source of diverse manipulation behaviors. However, transferring such demonstrations to dexterous robots remains challenging: monocular hand-object interaction (HOI) reconstruction often produces temporally unstable contacts and physically implausible interactions, while conventional retargeting methods struggle to preserve task-relevant contacts and local interaction geometry across different hand embodiments. We present C2Dex, a video-to-dexterous-manipulation framework built around a shared interaction representation: stable object-side cont...
| Authors | Jie Ren, Zhehao Jiang, Yinhong Yang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 7 August 2026 |
| Last updated at source | 6 September 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 17 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.