{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/task-oriented-hand-motion-retargeting-for","title":"Task-Oriented Hand Motion Retargeting for Dexterous Manipulation Imitation","arxiv_id":"1810.01845","date":"2018-10-03","proceeding":null,"authors":["Dafni Antotsiou","Guillermo Garcia-Hernando","Tae-Kyun Kim"],"abstract":"Human hand actions are quite complex, especially when they involve object\nmanipulation, mainly due to the high dimensionality of the hand and the vast\naction space that entails. Imitating those actions with dexterous hand models\ninvolves different important and challenging steps: acquiring human hand\ninformation, retargeting it to a hand model, and learning a policy from\nacquired data. In this work, we capture the hand information by using a\nstate-of-the-art hand pose estimator. We tackle the retargeting problem from\nthe hand pose to a 29 DoF hand model by combining inverse kinematics and PSO\nwith a task objective optimisation. This objective encourages the virtual hand\nto accomplish the manipulation task, relieving the effect of the estimator's\nnoise and the domain gap. Our approach leads to a better success rate in the\ngrasping task compared to our inverse kinematics baseline, allowing us to\nrecord successful human demonstrations. Furthermore, we used these\ndemonstrations to learn a policy network using generative adversarial imitation\nlearning (GAIL) that is able to autonomously grasp an object in the virtual\nspace.","url_abs":"http://arxiv.org/abs/1810.01845v1","url_pdf":"http://arxiv.org/pdf/1810.01845v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"task-oriented-hand-motion-retargeting-for","repo_url":"https://github.com/DaphneAntotsiou/task-oriented-hand-retargeting","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[{"task_slug":"imitation-learning","task_name":"Imitation Learning"},{"task_slug":"motion-retargeting","task_name":"motion retargeting"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=1810.01845","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"1810.01845"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/DaphneAntotsiou/task-oriented-hand-retargeting","reach":null}],"summary":{"ran_draft_wrong":1,"unverified":1},"by_repo_kind":{"official":{"samples":2,"ran":1,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":0,"samples":[{"code_sha256_prefix":"2edf8799a7f50895","entry":"replay_frame","repo":"DaphneAntotsiou/task-oriented-hand-retargeting","repo_kind":"official","path":"replay_trajectories.py","file_url":"https://github.com/DaphneAntotsiou/task-oriented-hand-retargeting/blob/HEAD/replay_trajectories.py","link_basis":"first_harvest_node","language":"python","status":"ran_draft_wrong","verification_level":1,"contract_check":"OUTPUT_MISDECLARED","metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"CC0-1.0","inline_ok":true,"mcp_get_code":{"code_sha256":"2edf8799a7f50895"}},{"code_sha256_prefix":"2fc6fdb85f13dc41","entry":"none_or_str","repo":"DaphneAntotsiou/task-oriented-hand-retargeting","repo_kind":"official","path":"replay_trajectories.py","file_url":"https://github.com/DaphneAntotsiou/task-oriented-hand-retargeting/blob/HEAD/replay_trajectories.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"CC0-1.0","inline_ok":true,"mcp_get_code":{"code_sha256":"2fc6fdb85f13dc41"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}