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CosmoH2G: A Hand-to-Gripper Transfer Dataset and Baseline Method for Object Manipulation with Complex Spatial Movements

arXiv · AI, language, vision and robotics · article · Sep 7, 2026 · UTC

Transferring human hand demonstrations to robotic grippers has recently emerged as a cost-effective solution for robot learning. However, existing methods are largely confined to simple, planar tasks and fail to handle complex spatial movements (e.g., intricate trajectories involving rotations or flips) that are essential for robot manipulation. Motivated by this gap, we adopt an implicit, data-driven approach guided by fine-grained hand-pose motions. To this end, we introduce a scalable acquisition pipeline to collect hand-gripper paired demonstrations, governed by a rigorous protocol that pr

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