CosmoH2G: Hand-to-Gripper Transfer for Complex Spatial Manipulation

CosmoH2G transfers complex spatial hand demonstrations to robotic grippers
through a two-stage, data-driven framework.

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Left: Dataset — 6,189 episodes · 1,254 objects  |  Right: Method — Stage-I keyframes → Stage-II full sequence

Citation

@misc{zhao2026cosmoh2ghandtogrippertransferdataset,
      title={CosmoH2G: A Hand-to-Gripper Transfer Dataset and Baseline Method for Object Manipulation with Complex Spatial Movements}, 
      author={Hongxiang Zhao and Mutian Xu and Zeyu Jin and Yiming Hao and Shuguang Cui and Xiaoguang Han},
      year={2026},
      eprint={2609.07498},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2609.07498}, 
}