DXTR — Playground · run

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PLAYGROUND

environment hand object canonical path evidence color camera

camera RGB

camera LiDAR depth

human hand extraction

object filtered · 6-DoF pose

object canonical 3D · where held

observed inferred contact

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human hand object · 6-DoF track robot execution raw sensor returns

reconstructed reconstructed + raw evidence press E

honest certificates

this frame

robot joint angles (rad)

robot gripper width (mm)

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visual hand-rigid grasp orbit · settle