一次演示适配多物体：借局部接触几何泛化机器人操作
Original title: One Demonstration, Many Objects: Generalizing Manipulation via Local Contact Geometry
ResearchAI 88
Source: arXiv cs.ROPublish time unverified
arXiv:2609.01938v2 Announce Type: replace Abstract: Dexterous manipulation with multi-fingered robot hands promises human-level dexterity, but collecting large-scale dexterous robot hand data remains difficult. Learning from human demonstrations has emerged as a scalable alternative to robot teleoperation, providing strong priors on object interaction and contact strategies.