REGRIND: Humanoid Robots Learn Tool Use from a Single Human Demonstration
HaozhiQ · x · 2026-07-30
Researchers introduced REGRIND, a minimalist retargeting-guided RL recipe that enables humanoid robots to learn contact-rich tool use, such as operating scissors or screwdrivers.
- Core Idea: It uses interaction-preserving retargeting instead of traditional Inverse Kinematics (IK) to efficiently map human demonstrations onto robot actions.
- Results: Using just one human demonstration, real robotic hands successfully learned complex tool manipulation with surprisingly natural motion.
- Availability: The paper and code have been open-sourced.
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