Smooth Operator: A Real-Time Sampling-Based Algorithm for Kinematic Hand Retargeting

Smooth Operator is a real-time sampling-based algorithm for kinematic hand retargeting.

1Soft Robotics Lab, ETH Zurich 2Autonomous Systems Lab, Stanford University 3mimic robotics Abstract Advances in learning-based robotic manipulation, such as Vision- Language-Action (VLA) models and Video Action Models (VAMs), heavily rely on high-quality teleoperation data. Their capabilities are strictly upper-bounded by the quality of the underlying human demonstrations. Current gradient-based retargeting algorithms converge to local minima, resulting in jitter that affects data quality and teleoperation experience. To address this, we introduce the Sampling- Based Retargeter (SBR), a…

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• Shiza Charania

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