ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learning

https://maniptrans.github.io ⊕ Figure 1. MANIPTRANS for Bimanual Dexterous Manipulations. Retargeting methods often struggle with transferring MoCap data to physically plausible motions, while our MANIPTRANS efficiently produces task-compliant, physically accurate motions. It also generalizes across embodiments like Inspire hands [3], Shadow hands [1], and articulated MANO hands [27, 96].