AIBullisharXiv – CS AI · 7h ago7/10
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UniDexTok: A Unified Dexterous Hand Tokenizer from Real Data
UniDexTok introduces a unified tokenization system that standardizes how different dexterous robotic hands represent their states, enabling cross-embodiment learning from real-world data. By mapping diverse hand kinematics to a shared 22-degree-of-freedom interface, the system achieves sub-millimeter reconstruction accuracy—a 99% improvement over previous approaches—while eliminating the need for simulation or manual retargeting.