CoorDex: Coordinating Body and Hand Priors for Continuous Dexterous Humanoid Loco-Manipulation - 2026-06-22 - Research Publication - CoorDex distills simulated body and hand demonstrations into separate proprioceptive latent priors and coordinates them with residual reinforcement learning. The system uses a Unitree G1 with a 20-degree-of-freedom WUJI… - source: arxiv.org
TopoRetarget: Interaction-Preserving Retargeting for Dexterous Manipulation - 2026-06-15 - Research Publication - The authors introduce TopoRetarget, an interaction-preserving retargeting framework that uses a single set of parameters across diverse retargeting conditions while maintaining task-relevant hand-object interaction and… - source: arxiv.org
Kilohertz-Safe: A Scalable Framework for Constrained Dexterous Retargeting - 2026-03-31 - Research Publication - This paper proposes a scalable motion retargeting framework that reformulates the nonlinear retargeting problem into a convex quadratic program in joint differential space. The proposed framework is validated through… - source: arxiv.org