Conceptembodiment gap
Embodiment Gap
The embodiment gap refers to the physical structural and kinematic differences between the morphology used during demonstration data collection (such as a human hand or a leader device) and the target robot morphology at deployment. It is typically bridged through retargeting mappings, and the mapping process introduces error.
Timeline (last 90 days)
Oct 26
By having collection and deployment share the same robot hand hardware, DexPort fundamentally eliminates the hand embodiment gap, so recorded commands can be used directly for policy learning without any cross-embodiment mapping.
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