ConTrack
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Related Articles from SNS
ConTrack: Constrained Hand Motion Tracking with Adaptive Trade-off Control
arXiv:2606.03177v1 Announce Type: new Abstract: Human demonstrations provide strong priors for robot manipulation, yet it is non-trivial to transfer them to execute on real robots due to the kinematic gap. In dexterous manipulation, it remains challenging to track long-horizon, contact-rich sequences even in simulators: a reference-tracking policy must keep objects on their target trajectories while preserving demonstrated joint motion and contact timing. Existing approaches often rely on...