{"title":"DexFlow: A Unified Approach for Dexterous Hand Pose Retargeting and Interaction","authors":"Lin, Xiaoyi, Kunpeng Yao, Lixin Xu, Xueqiang Wang, Xuetao Li, Yuchen Wang, Miao Li","doi":"10.48550/arxiv.2505.01083","DOIUrl":"https://doi.org/10.48550/arxiv.2505.01083","url":null,"abstract":"Despite advances in hand-object interaction modeling, generating realistic dexterous manipulation data for robotic hands remains a challenge. Retargeting methods often suffer from low accuracy and fail to account for hand-object interactions, leading to artifacts like interpenetration. Generative methods, lacking human hand priors, produce limited and unnatural poses. We propose a data transformation pipeline that combines human hand and object data from multiple sources for high-precision retargeting. Our approach uses a differential loss constraint to ensure temporal consistency and generates contact maps to refine hand-object interactions. Experiments show our method significantly improves pose accuracy, naturalness, and diversity, providing a robust solution for hand-object interaction modeling.","PeriodicalId":522521,"journal":{"name":"ArXiv.org","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-05-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://arxiv.org/pdf/2505.01083","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147898644","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}