OmniHOI: Dexterous Hand-Object Interaction from Monocular Human Video
arXiv:2610.10855v1 Announce Type: new Abstract: Monocular videos of human manipulation provide abundant dexterous demonstrations, yet reconstructing hand-object interaction from a single view and transferring it to robot hands remain difficult, limiting their direct use for robot execution. Prior methods either require task-specific RL training, limiting scalability, or assume clean motion-capture trajectories and thus cannot operate directly on video. We present OmniHOI, a pipeline that turns
Overview
arXiv:2610.10855v1 Announce Type: new Abstract: Monocular videos of human manipulation provide abundant dexterous demonstrations, yet reconstructing hand-object interaction from a single view and transferring it to robot hands remain difficult, limiting their direct use for robot execution. Prior methods either require task-specific RL training, limiting scalability, or assume clean motion-capture trajectories and thus cannot operate directly on video. We present OmniHOI, a pipeline that turns an RGB video of hand-object interaction into an interaction-faithful trajectory on dexterous hands. The key idea is to enforce physical consistency using the evidence available at each stage: image evidence during reconstruction, contact geometry during retargeting, and dynamics during physics-in-the-loop refinement. Each stage optimizes the corresponding representation directly, correcting errors before they propagate downstream or must be absorbed by a learned policy. Across 150 motion-capture trajectories transferred to each of five dexterous hands with 6 to 22 DoF, we achieve 39-89% success, compared with at most 31% for prior transfer methods. On 60 monocular video clips, we achieve 53% success, compared with 28% for the best prior video-to-robot pipeline. Its trajectories also execute on a real bimanual robot across diverse tasks.
Source
Originally published at arxiv.org.
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Source: https://arxiv.org/abs/2610.10855
