Research questionHow can dexterous robot hands generalize a manipulation skill from one demonstration to varied objects despite sim-to-real gaps?Dexterous hands must reproduce useful contact strategies with limited real-world training data. Variation in object properties and discrepancies between simulation and reality make reliable transfer difficult. Latest papersRecent research connected to this question, newest first.One Demonstration, Many Objects: Generalizing Manipulation via Local Contact GeometryThe source studies a policy trained from human demonstrations for multi-fingered hands, targeting objects that vary in shape, scale, mass, and friction. Real-world evidence covers 16 objects, four tasks, and two robot-hand embodiments, reporting 71% success; the source does not establish broader deployment performance.research paper · Sep 3, 2026