Preprint
Oct 2026
TacOT: Learning Contact-Rich Dexterous Manipulation from Human Demonstrations via Tactile-Guided Optimal Transport
Learning contact-rich dexterous manipulation from human demonstrations provides a scalable source of interaction data, yet transferring such skills to robots remains challenging due to unreliable human--robot correspondence. Existing human-to-robot transfer methods typically rely on visual appearance or motion similari...
Xing-Ting Li, Yi-Fan Han, Zi-Jian Lin et al.
· 0 citations