EgoJEPA: Beyond Retargeting for Dexterous Manipulation from Egocentric Videos
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초록 발췌
Egocentric human videos offer a scalable alternative to costly robot demonstra- tions, yet transferring their manipulation priors to robot control remains chal- lenging. The commonly adopted retargeting-based approaches convert human wrist and finger poses into embodiment-specific action commands through hand- crafted geometric mappings.
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