Pipeline Overview
Our proposed grasp retargeting framework comprises three main modules. First, the object segmented from the multi-frame MANO and object interaction sequence is scaled, and the human hand pose is retargeted to a robotic hand pose. Next, a double-threshold detection system extracts initial contact information between the retargeted hand and the object, which is then smoothed over adjacent frames and updated only if certain conditions are met. Finally, each finger is optimized in sequence, starting from the thumb and moving toward the pinky. At each stage of optimization, one finger is refined, and fingers without contact information, such as the index finger, are skipped, ensuring an efficient and accurate optimization procedure.