CosmoH2G: A Hand-to-Gripper Transfer Dataset and Baseline Method for Object Manipulation with Complex Spatial Movements
Researchers release CosmoH2G, a 6,189-episode hand-to-gripper dataset with a two-stage method for complex spatial robot manipulation.
The paper introduces a scalable acquisition pipeline using a handheld gripper to collect paired hand-gripper demonstrations, producing 6,189 episodes across 1,254 unique objects with higher spatial complexity than existing benchmarks. A two-stage framework first predicts sparse gripper keyframes (initial and terminal), then generates the full continuous action sequence conditioned on them, while learning gripper orientation and post-optimizing translation via grasping heuristics and kinematic consistency. Simulation and real-robot experiments show stable, precise hand-to-gripper transfer of complex spatial manipulations, outperforming traditional baselines.