From Wearable Interfaces to Dexterous Policies: Contact Shifts and Tactile Representations

arXiv:2610.08870 · cs.RO · Submitted 2026-10-06 · Read on arXiv

cs.RO

Submitted: 2026-10-06

Updated: 2026-10-13

Comments: 8 pages, 6 figures. Submitted to ICRA 2027

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Calibration — 8× in this paper · explained in 7 episodes
• AUROC — 3× in this paper · explained in 2 episodes
• Aggregation — 2× in this paper · explained in 1 episode
• Frustration — 1× in this paper · explained in 2 episodes

Sources

• DEXOP: A Device for Robotic Transfer of Dexterous Human Manipulation
• DexEXO: A Wearability-First Dexterous Exoskeleton for Operator-Agnostic Demonstration and Learning
• RealDexUMI: A Wearable Universal Manipulation Interface for Dexterous Robot Learning
• MILE: A Mechanically Isomorphic Hand Exoskeleton and Visuotactile Robotic Hand for Data Collection in Dexterous Manipulation
• WHED: A Wearable Hand Exoskeleton for Natural, High-Quality Demonstration Collection
• Human-Exoskeleton Kinematic Calibration to Improve Hand Tracking for Dexterous Teleoperation
• Tactile-Conditioned Diffusion Policy for Force-Aware Robotic Manipulation
• Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation
• 3D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensing
• Spatially anchored Tactile Awareness for Robust Dexterous Manipulation
• Multi-Resolution Tactile Imitation Learning for Contact-Rich Robotic Manipulation
• ViTaMIn: Learning Contact-Rich Tasks Through Robot-Free Visuo-Tactile Manipulation Interface
• OSMO: Open-Source Tactile Glove for Human-to-Robot Skill Transfer
• Exo-ViHa: A Cross-Platform Exoskeleton System with Visual and Haptic Feedback for Efficient Dexterous Skill Learning
• DexViTac: Collecting Human Visuo-Tactile-Kinematic Demonstrations for Contact-Rich Dexterous Manipulation

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• ARC: A Reasoning Recipe for Robot Foundation Models
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies