Dexterous-Manipulation

Organize the paper about dexterous manipulation by my reading.

Content

• Dexterous-Manipulation
  • Content
  • Teleoperation
  • Reinforcement Learning
  • Learning From Human
  • Sim2Real
  • Hardware System
  • Tactile Sensing
  • VLA
  • Compliance and Force Control
  • Cool Idea

Teleoperation

• (2025) Liu, Jason Jingzhou, et al. Factr: Force-attending curriculum training for contact-rich policy learning. - arXiv
• (2024) Wang, C., Shi, H., Wang, W., Zhang, R., Fei-Fei, L., & Liu, C. K. Dexcap: Scalable and portable mocap data collection system for dexterous manipulation. - arXiv, Website
• (2023) Qin, Y., Yang, W., Huang, B., Van Wyk, K., Su, H., Wang, X., ... & Fox, D. Anyteleop: A general vision-based dexterous robot arm-hand teleoperation system. - arXiv, Website
• (2023) Arunachalam, S. P., Güzey, I., Chintala, S., & Pinto, L. Holo-dex: Teaching dexterity with immersive mixed reality. - arXiv, Website
• (2020) Handa, A., Van Wyk, K., Yang, W., Liang, J., Chao, Y. W., Wan, Q., ... & Fox, D. Dexpilot: Vision-based teleoperation of dexterous robotic hand-arm system. - arXiv, Website

Reinforcement Learning

• (2024) Ankile, L., Simeonov, A., Shenfeld, I., Torne, M., & Agrawal, P. From Imitation to Refinement--Residual RL for Precise Assembly. - arXiv

Learning From Human

• (2025) Qiu, R. Z., Yang, S., Cheng, X., Chawla, C., Li, J., He, T., ... & Wang, X. Humanoid Policy~ Human Policy. - arXiv, Website
• (2024) Kareer, S., Patel, D., Punamiya, R., Mathur, P., Cheng, S., Wang, C., ... & Xu, D. Egomimic: Scaling imitation learning via egocentric video. - arXiv, Website
• (2022) Shaw, K., Bahl, S., & Pathak, D. Videodex: Learning dexterity from internet videos. - arXiv, Website

Sim2Real

• (2025) Maddukuri, A., Jiang, Z., Chen, L. Y., Nasiriany, S., Xie, Y., Fang, Y., ... & Zhu, Y. Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic Manipulation. - arXiv, Website
• (2025) Lin, T., Sachdev, K., Fan, L., Malik, J., & Zhu, Y. Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoids. - arXiv
• (2023) Huang, B., Chen, Y., Wang, T., Qin, Y., Yang, Y., Atanasov, N., & Wang, X. Dynamic handover: Throw and catch with bimanual hands. - arXiv, Website
• (2023) Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments. - arXiv, Website
• (2023) Chen, T., Tippur, M., Wu, S., Kumar, V., Adelson, E., & Agrawal, P. Visual dexterity: In-hand reorientation of novel and complex object shapes. - arXiv

Hardware System

• (2024) Chi, C., Xu, Z., Pan, C., Cousineau, E., Burchfiel, B., Feng, S., Tedrake, R., & Song, S. Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots. - arXiv, Website
• (2024) Romero, B., Fang, H. S., Agrawal, P., & Adelson, E. Eyesight hand: Design of a fully-actuated dexterous robot hand with integrated vision-based tactile sensors and compliant actuation. - arXiv
• (2023) Mannam, P., Shaw, K., Bauer, D., Oh, J., Pathak, D., & Pollard, N. Designing anthropomorphic soft hands through interaction. - arXiv
• (2023) Shaw, K., Agarwal, A., & Pathak, D. Leap hand: Low-cost, efficient, and anthropomorphic hand for robot learning. - arXiv
• (2021) Kim, U., Jung, D., Jeong, H., Park, J., Jung, H. M., Cheong, J., ... & Park, C. Integrated linkage-driven dexterous anthropomorphic robotic hand. - Paper
• (2012) Bridgwater, L. B., Ihrke, C. A., Diftler, M. A., Abdallah, M. E., Radford, N. A., Rogers, J. M., ... & Linn, D. M. The robonaut 2 hand-designed to do work with tools. - Paper

Tactile Sensing

• (2026) Zhang, Z., Ma, J., Yang, X., Wen, X., Zhang, Y., Li, B., Qin, Y., Liu, J., Zhao, C., Kang, L., Hong, H., Yin, Z., Torr, P., Su, H., Zhang, R., & Ma, D. TouchGuide: Inference-Time Steering of Visuomotor Policies via Touch Guidance. - arXiv
• (2025) Li, J., Wu, T., Zhang, J., Chen, Z., Jin, H., Wu, M., ... & Dong, H. Adaptive Visuo-Tactile Fusion with Predictive Force Attention for Dexterous Manipulation. - arXiv, Website
• (2025) Wu, Q., Wang, H., Zhou, J., Xiong, X., & Lou, Y. TARS: Tactile Affordance in Robot Synesthesia for Dexterous Manipulation. - Paper
• (2024) Wu, T., Li, J., Zhang, J., Wu, M., & Dong, H. Canonical representation and force-based pretraining of 3d tactile for dexterous visuo-tactile policy learning. - arXiv
• (2021) Dong, S., Jha, D. K., Romeres, D., Kim, S., Nikovski, D., & Rodriguez, A. Tactile-rl for insertion: Generalization to objects of unknown geometry. - arXiv

VLA

• (2024) Kim, M. J., Pertsch, K., Karamcheti, S., Xiao, T., Balakrishna, A., Nair, S., ... & Finn, C. Openvla: An open-source vision-language-action model. - arXiv, Website

Compliance and Force Control

• (2026) Shi, H., Hu, S., Hou, Y., Wang, W., Liu, K., & Song, S. Minimalist Compliance Control. - arXiv, Website
• (2026) Fang, H., Tang, S., Mei, M., Qin, H., He, Z., Chen, J., Feng, Y., Wang, C., Liu, W., He, Z., Lu, C., & Wang, S. Force Policy: Learning Hybrid Force-Position Control Policy under Interaction Frame for Contact-Rich Manipulation. - arXiv, Website
• (2025) Margolis, G. B., Wang, M., Fey, N., & Agrawal, P. SoftMimic: Learning Compliant Whole-body Control from Examples. - arXiv, Website
• (2025) Zhi, P., Li, P., Yin, J., Jia, B., & Huang, S. Learning a Unified Policy for Position and Force Control in Legged Loco-Manipulation. - arXiv, Website
• (2025) Chen, W., Xue, H., Wang, Y., Zhou, F., Lv, J., Jin, Y., Tang, S., Wen, C., & Lu, C. ImplicitRDP: An End-to-End Visual-Force Diffusion Policy with Structural Slow-Fast Learning. - arXiv, Website
• (2024) Hou, Y., Liu, Z., Chi, C., Cousineau, E., Kuppuswamy, N., Feng, S., Burchfiel, B., & Song, S. Adaptive Compliance Policy: Learning Approximate Compliance for Diffusion Guided Control. - arXiv, Website
• (2024) He, Z., Fang, H., Chen, J., Fang, H. S., & Lu, C. FoAR: Force-Aware Reactive Policy for Contact-Rich Robotic Manipulation. - arXiv, Website

Cool Idea

• (2023) Zakka, K., Wu, P., Smith, L., Gileadi, N., Howell, T., Peng, X. B., ... & Abbeel, P. Robopianist: Dexterous piano playing with deep reinforcement learning. - arXiv, Code, Website