{"id":"https://openalex.org/W7165407412","doi":"https://doi.org/10.48550/arxiv.2606.20549","title":"Generating Robot Hands from Human Demonstrations","display_name":"Generating Robot Hands from Human Demonstrations","publication_year":2026,"publication_date":"2026-06-18","ids":{"openalex":"https://openalex.org/W7165407412","doi":"https://doi.org/10.48550/arxiv.2606.20549"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.20549","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.20549","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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.2606.20549","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5138995248","display_name":"Sha Yi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yi, Sha","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139002628","display_name":"Nicklas Hansen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hansen, Nicklas","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138971758","display_name":"Xueqian Bai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bai, Xueqian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041119232","display_name":"Carmelo Sferrazza","orcid":"https://orcid.org/0000-0002-7432-7634"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sferrazza, Carmelo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136759840","display_name":"Michael T. Tolley","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tolley, Michael T.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139020444","display_name":"Xiaolong Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Xiaolong","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/T10653","display_name":"Robot Manipulation and Learning","score":0.9406999945640564,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9406999945640564,"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":0.022600000724196434,"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"}},{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.0071000000461936,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7016000151634216},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.6758000254631042},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.5004000067710876},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4810999929904938},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4702000021934509},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.44130000472068787},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.41280001401901245},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.36570000648498535},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.364300012588501},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.35359999537467957}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7016000151634216},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.6758000254631042},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6126999855041504},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5789999961853027},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5446000099182129},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.5004000067710876},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4810999929904938},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4702000021934509},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.44130000472068787},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.41280001401901245},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.36570000648498535},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.364300012588501},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35359999537467957},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.3521000146865845},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3456999957561493},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.3440999984741211},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.32690000534057617},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3183000087738037},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3140999972820282},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.31380000710487366},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30649998784065247},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.30239999294281006},{"id":"https://openalex.org/C2781042323","wikidata":"https://www.wikidata.org/wiki/Q191931","display_name":"Wheelchair","level":2,"score":0.29030001163482666},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2892000079154968},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.28769999742507935},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.2797999978065491},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.27970001101493835},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.2784000039100647},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.27459999918937683},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.26919999718666077},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.2685999870300293},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2678000032901764},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.25769999623298645},{"id":"https://openalex.org/C158096908","wikidata":"https://www.wikidata.org/wiki/Q3983303","display_name":"Template matching","level":3,"score":0.257099986076355},{"id":"https://openalex.org/C107953548","wikidata":"https://www.wikidata.org/wiki/Q1172433","display_name":"Wired glove","level":3,"score":0.2547000050544739}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.20549","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.20549","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.20549","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.20549","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.7646776437759399,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Robot":[0],"learning":[1,6,9,48],"has":[2],"advanced":[3],"rapidly":[4],"in":[5],"control,":[7],"but":[8,208],"the":[10,63,121,148,161,177,217],"physical":[11,218],"body":[12],"of":[13,47,83,220],"a":[14,28,36,49,105,127,211],"robot":[15,41,59,94,174,206],"remains":[16],"much":[17],"more":[18,78],"difficult":[19],"because":[20],"jointly":[21],"searching":[22],"over":[23,123],"design":[24],"and":[25,110,136,184,215],"control":[26,66],"creates":[27],"very":[29],"large":[30],"combinatorial":[31],"problem.":[32],"Here,":[33],"we":[34,57,125],"present":[35],"data-driven":[37],"framework":[38,102],"for":[39,213],"generating":[40,216],"hands":[42,95,113,180],"from":[43,87,142],"human":[44,84,183,196],"demonstrations.":[45],"Instead":[46],"complex":[50],"controller":[51],"together":[52],"with":[53,114,155,187],"each":[54],"candidate":[55],"design,":[56],"generate":[58],"hand":[60,109,134,163],"designs":[61,135],"using":[62],"same":[64],"simple":[65],"policy":[67],"used":[68,201],"after":[69],"fabrication:":[70],"matching":[71],"fingertip":[72,85,168],"positions":[73],"through":[74],"inverse":[75],"kinematics.":[76],"Using":[77],"than":[79,171],"4":[80],"million":[81],"frames":[82],"motion":[86,197],"everyday":[88],"manipulation,":[89],"our":[90],"algorithm":[91],"optimizes":[92],"tree-structured":[93],"to":[96,131,144,204],"reproduce":[97],"desired":[98],"target":[99],"motions.":[100],"The":[101],"produced":[103],"both":[104],"6-degree-of-freedom":[106],"(DoF)":[107],"general-purpose":[108],"lower-DoF":[111],"task-specific":[112],"spatial":[115],"four-bar":[116],"mimic":[117],"joints.":[118,157],"To":[119],"accelerate":[120],"search":[122,140],"designs,":[124],"trained":[126],"reinforcement-learning":[128],"(RL)":[129],"actor":[130],"propose":[132],"good":[133],"joint":[137],"angles,":[138],"reducing":[139],"time":[141],"hours":[143],"minutes.":[145],"We":[146],"fabricated":[147],"mechanisms":[149],"directly":[150],"as":[151,210],"one-piece":[152],"articulated":[153],"structures":[154],"print-in-place":[156],"In":[158],"real-world":[159],"experiments,":[160],"6-DoF":[162],"achieved":[164],"highly":[165],"accurate":[166],"teleoperated":[167],"tracking":[169],"better":[170],"available":[172],"commercial":[173],"hands,":[175],"whereas":[176],"specialized":[178],"3-DoF":[179],"reproduced":[181],"structured":[182],"synthetic":[185],"trajectories":[186],"reduced":[188],"mechanical":[189],"complexity.":[190],"These":[191],"results":[192],"showed":[193],"that":[194],"large-scale":[195],"data":[198],"can":[199],"be":[200],"not":[202],"only":[203],"train":[205],"controllers":[207],"also":[209],"reference":[212],"optimizing":[214],"embodiment":[219],"robots.":[221]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-06-20T00:00:00"}
