Kinematic Nonlinear Spatio-Temporal Trajectory Warping for Contact-Rich Dexterous Manipulation Demonstrations
cs.RO
Submitted: 2026-09-29
Updated: 2026-09-29
License: http://creativecommons.org/licenses/by/4.0/
The gist: We present a straightforward but effective method for repurposing existing contact-rich dexterous manipulation demonstrations.
Terminology
Abstract
We present a straightforward but effective method for repurposing existing contact-rich dexterous manipulation demonstrations. Starting from inputs of hand and object trajectories, our method outputs high-quality nonlinear trajectory warps that account for intermediate waypoints, environmental barriers, temporal shifts, and varied start/end configurations. Foundational to our method is the utilization of contact distributions, which we show allows us to reliably compute complex and high-dimensional dexterous hand trajectories following a simple object-centric warp specification pipeline. We evaluate our method across 12 variations sourced from 4 demonstrations in a publicly available dataset of human hand motion data, perform baseline comparisons, and demonstrate generalization of our approach to different manipulators. Results and code will be made available on publication.
Sources
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