# 用于接触丰富灵巧操作示范的运动学非线性时空轨迹变形

> 原文链接：https://robotics.hellobike.com/papers/2026-09-29-2609-36676
> 频道：papers | 更新日期：2026-09-29 | 标签：arxiv, cs.RO
> 核心摘要：针对复用接触丰富灵巧操作示范，提出基于接触分布的非线性时空轨迹变形，并在公开人手运动数据上验证。

# 用于接触丰富灵巧操作示范的运动学非线性时空轨迹变形

::: v-pre
> 原文链接：[Kinematic Nonlinear Spatio-Temporal Trajectory Warping for Contact-Rich Dexterous Manipulation Demonstrations](https://arxiv.org/abs/2609.36676)（arXiv 2609.36676 · 发布日期：2026-09-29）

**Kinematic Nonlinear Spatio-Temporal Trajectory Warping for Contact-Rich Dexterous Manipulation Demonstrations**

针对复用接触丰富灵巧操作示范，提出基于接触分布的非线性时空轨迹变形，并在公开人手运动数据上验证。

## 核心要点

- 问题在于复用已有接触丰富示范需处理路点、障碍、时间偏移和起止配置变化。
- 方法以手和物体轨迹为输入，利用接触分布生成高质量非线性轨迹变形。
- 通过简单的以物体为中心的变形流程，可靠计算复杂高维灵巧手轨迹。
- 在公开人手运动数据中4个示范的12种变体上评估、比较基线，并展示对不同操纵器的泛化；结果和代码将在发表时提供。

**验证范围与局限**：验证范围为公开人手运动数据中的12种变体及不同操纵器泛化展示。

## 英文摘要 (Abstract)

We present a straightforward but effective method for repurposing existing contact-rich dexterous manipulation demonstrations. Starting from inputs of hand and object trajectories, our method outputs high-quality nonlinear trajectory warps that account for intermediate waypoints, environmental barriers, temporal shifts, and varied start/end configurations. Foundational to our method is the utilization of contact distributions, which we show allows us to reliably compute complex and high-dimensional dexterous hand trajectories following a simple object-centric warp specification pipeline. We evaluate our method across 12 variations sourced from 4 demonstrations in a publicly available dataset of human hand motion data, perform baseline comparisons, and demonstrate generalization of our approach to different manipulators. Results and code will be made available on publication.

作者：Hyojae Park, Arjun Lakshmipathy, Nancy S. Pollard
:::

## 原始参考来源 (Sources)

- [arXiv 2609.36676：Kinematic Nonlinear Spatio-Temporal Trajectory Warping for Contact-Rich Dexterous Manipulation Demonstrations](https://arxiv.org/abs/2609.36676)