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Author

Yuan-Chuan Lai

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2026

Vision-Guided Arm–Hand Decoupled Motion Retargeting Using Graph Networks for Cross-Platform Robots

Motion retargeting enables robotic systems to replicate human motion for complex tasks. However, existing approaches often depend on costly motion capture systems and struggle with scale discrepancies between hands and arms, leading to reduced precision. They also face challenges such as high computational cost, local...

Yuan-Chuan Lai, Qing Gao, Zhao-Jie Ju · 0 citations
Jul 2026

ObjRetarget: An Object-Aware Motion Retargeting Framework with Anthropomorphic Arm Constraints and Polyhedral Hand Modeling

Learning robot dexterous manipulation from human manipulation videos requires reliably retargeting human intent to executable robot actions while maintaining stable hand-object contact, which remains a key challenge in embodied intelligence. Existing retargeting methods often ignore explicit contact modeling or rely on...

Yuanchuan Lai, Qing Gao, Ziyan Liang et al. · 0 citations

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