Hand2Robot: Object-Centric 4D Hand Reconstruction from Human Demonstrations for Robotics
Human demonstrations can capture task-relevant manipulation without using the target robot, but the recorded hand motions cannot directly serve as robot action supervision. Hand reconstruction and motion retargeting provide a direct route to such supervision, yet recovering hand motion alone does not ensure physically consistent hand-object interactions. To address this issue, we introduce Hand2Robot, an object-centric 4D hand reconstruction framework for robot policy post-training. Given videos of humans performing the target task, Hand2Robot extracts interaction clips, reconstructs object geometry, and generates robot action supervision through hand-object interaction optimization and m...
| Authors | Zetao Du, Weiqing Wang, Hanbing Zhang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 11 October 2026 |
| Last updated at source | 11 October 2026 |
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