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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

Author

Federica Spinola

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Preprint Oct 2026

DexOAK: Object-Aware Kinematic Retargeting

We introduce DexOAK, a learning-based object-aware kinematic retargeting framework for generating contact-consistent robot hand references from human motion-capture data. DexOAK first minimizes an interaction-graph Laplacian objective over a joint hand-object graph, so the robot reproduces the demonstrated object-relat...

Federica Spinola, Robert K. Katzschmann, Cordelia Schmid · 0 citations

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