{"id":"https://openalex.org/W7163913660","doi":"https://doi.org/10.48550/arxiv.2606.07389","title":"Simulation-Driven Imitation Learning for Biosignals-Free Shared-Autonomy Prosthetic Grasping","display_name":"Simulation-Driven Imitation Learning for Biosignals-Free Shared-Autonomy Prosthetic Grasping","publication_year":2026,"publication_date":"2026-06-05","ids":{"openalex":"https://openalex.org/W7163913660","doi":"https://doi.org/10.48550/arxiv.2606.07389"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.07389","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.07389","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.07389","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067786449","display_name":"Kaijie Shi","orcid":"https://orcid.org/0009-0001-0891-876X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shi, Kaijie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002946529","display_name":"Wanglong Lu","orcid":"https://orcid.org/0000-0001-7956-4084"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lu, Wanglong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138119174","display_name":"Huiling Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Huiling","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033287150","display_name":"Vinicius Prado da Fonseca","orcid":"https://orcid.org/0000-0001-5705-3056"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"da Fonseca, Vinicius Prado","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138170361","display_name":"Ting Zou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zou, Ting","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054100996","display_name":"Hanli Zhao","orcid":"https://orcid.org/0000-0003-3044-9223"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Hanli","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5018534368","display_name":"Xianta Jiang","orcid":"https://orcid.org/0000-0002-3219-1871"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiang, Xianta","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.8457000255584717,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.8457000255584717,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.07150000333786011,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.054499998688697815,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8593999743461609},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.6825000047683716},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6608999967575073},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.6068000197410583},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4982999861240387},{"id":"https://openalex.org/keywords/prosthetic-hand","display_name":"Prosthetic hand","score":0.42890000343322754},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4056999981403351},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.4023999869823456}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8593999743461609},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7533000111579895},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.6825000047683716},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6608999967575073},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.6068000197410583},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6050000190734863},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5953999757766724},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4982999861240387},{"id":"https://openalex.org/C3020781530","wikidata":"https://www.wikidata.org/wiki/Q181802","display_name":"Prosthetic hand","level":2,"score":0.42890000343322754},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4056999981403351},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.4023999869823456},{"id":"https://openalex.org/C2776608160","wikidata":"https://www.wikidata.org/wiki/Q4785462","display_name":"Natural (archaeology)","level":2,"score":0.392300009727478},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3840000033378601},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.35740000009536743},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3034999966621399},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.2978000044822693},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.29409998655319214},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.2937000095844269},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2854999899864197},{"id":"https://openalex.org/C25344961","wikidata":"https://www.wikidata.org/wiki/Q192726","display_name":"Virtual machine","level":2,"score":0.27869999408721924},{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.26170000433921814},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2540999948978424}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.07389","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.07389","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.07389","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.07389","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Biosignals-free":[0],"shared-autonomy":[1,164],"control":[2],"of":[3,39,43,159],"upper-limb":[4],"prosthetic":[5,165],"hands":[6],"aims":[7],"to":[8,94],"enable":[9],"natural":[10,75],"and":[11,37,79,92,110,113,130,152],"low-effort":[12],"manipulation":[13],"without":[14],"relying":[15],"on":[16],"EMG":[17],"or":[18],"other":[19],"physiological":[20],"signals.":[21],"Recent":[22],"imitation-learning-based":[23],"approaches":[24],"have":[25],"shown":[26],"promising":[27],"results,":[28],"but":[29],"their":[30],"scalability":[31],"is":[32],"limited":[33],"by":[34],"the":[35,124,140,157],"cost":[36],"variability":[38],"collecting":[40],"large":[41],"amounts":[42],"real-world":[44],"human":[45],"demonstration":[46,98],"data.":[47],"In":[48,136],"this":[49],"work,":[50],"we":[51,107],"present":[52],"a":[53,64,96],"scalable":[54],"simulation":[55,105],"framework":[56,69],"that":[57,123],"automatically":[58],"generates":[59],"diverse":[60],"reach-to-grasp":[61],"demonstrations":[62,126,168],"from":[63],"wrist-mounted":[65],"virtual":[66],"camera.":[67],"The":[68,167],"combines":[70],"physically":[71],"feasible":[72],"grasp":[73,147],"synthesis,":[74],"reaching":[76],"trajectories":[77],"retargeting,":[78],"reach--grasp--lift":[80],"execution":[81],"in":[82],"procedurally":[83],"generated":[84],"indoor":[85],"environments.":[86],"It":[87],"records":[88],"wrist-view":[89],"observations,":[90],"proprioception,":[91],"actions":[93],"build":[95],"large-scale":[97],"dataset":[99],"for":[100,132,162],"imitation":[101,118],"learning.":[102,135],"Through":[103],"extensive":[104],"benchmarks,":[106],"evaluate":[108],"object":[109],"scene":[111],"generalization":[112],"compare":[114],"several":[115],"representative":[116],"state-of-the-art":[117],"learning":[119],"methods.":[120],"Results":[121],"show":[122],"simulated":[125],"are":[127,169],"sufficiently":[128],"rich":[129],"consistent":[131],"effective":[133],"policy":[134,143],"three":[137],"realistic":[138],"settings,":[139],"learned":[141],"sim-to-real":[142],"achieves":[144],"over":[145],"90\\%":[146],"success,":[148],"surpasses":[149],"baseline":[150],"methods,":[151],"exhibits":[153],"stronger":[154],"generalization,":[155],"highlighting":[156],"promise":[158],"simulation-driven":[160],"training":[161],"biosignals-free":[163],"grasping.":[166],"available":[170],"at":[171],"\\href{https://sites.google.com/view/sim-prosthetic-grasp/home}{https://sites.google.com/view/sim-prosthetic-grasp/home}.":[172]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-09T00:00:00"}
