PACT: Posture-Aligned Co-Design Technique for Hand Configuration and Retargeting in Multi-Finger Imitation Learning
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초록 발췌
The fidelity of teleoperated demonstrations used for imitation learning is determined by how faithfully a robot hand can replicate the operator's posture. The posture retargeting law that the robot will execute is typically selected only once the hardware has been finalized, and conventional hand designs often neglect human-like grasping postures.
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