Dexterous Manipulation: Learning and Control with Diverse Modalities

Accepted papers (16)

Fetched from OpenReview (v2) on 2026-06-10.

1. ☆DexSkin: High-Coverage Conformable Robotic Skin for Learning Contact-Rich Manipulation

   Suzannah Wistreich, Baiyu Shi, Stephen Tian, Samuel Clarke, Michael Nath, Chengyi Xu, Zhenan Bao, Jiajun Wu · PDF

2. ☆DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation

   Mengda Xu, Han Zhang, Yifan Hou, Zhenjia Xu, Linxi Fan, Manuela Veloso, Shuran Song · PDF

3. ☆EquiContact: A Hierarchical SE(3) Vision-to-Force Equivariant Policy for Spatially Generalizable Contact-rich Tasks

   Joohwan Seo, Arvind Kruthiventy, Soomi Lee, Megan Teng, Xiang Zhang, Seoyeon Choi, Jongeun Choi, Roberto Horowitz · PDF

4. ☆FLASH: Flow-Based Language-Annotated Grasp Synthesis for Dexterous Hands

   Hrishit Leen, Jeremy A. Collins, Kunal Aneja, Nhi Nguyen, Priyadarshini Tamilselvan, Sri Siddarth Chakaravarthy P, Animesh Garg · PDF

5. ☆FunGrasp: Functional Grasping for Diverse Dexterous Hands

   Linyi Huang, Hui Zhang, Zijian wu, Sammy Christen, Jie Song · PDF

6. ☆HERMES: Human-to-Robot Embodied Learning from Multi-Source Motion Data for Mobile Dexterous Manipulation

   Zhecheng Yuan, Tianming Wei, Langzhe Gu, Pu Hua, Tianhai Liang, Yuanpei Chen, Huazhe Xu · PDF

7. ☆Latent Action Diffusion for Cross-Embodiment Manipulation

   Erik Bauer, Elvis Nava, Robert K. Katzschmann · PDF

8. ☆mimic-one: a Scalable Model Recipe for General Purpose Robot Dexterity

   Elvis Nava, Victoriano Montesinos, Erik Bauer, Benedek Forrai, Jonas Pai, Stefan Weirich, Stephan-Daniel Gravert, Philipp Wand, Stephan Polinski, Benjamin F Grewe, Robert K. Katzschmann · PDF

9. ☆Scaling Cross-Embodiment World Models for Dexterous Manipulation

   Zihao He, Bo Ai, Yulin Liu, Weikang Wan, Henrik I Christensen, Hao Su · PDF

10. ☆Suction Leap-Hand: Suction Cups on a Multi-fingered Hand Enables Embodied Dexterity and In-Hand Teleoperation

    Zhaole Sun · PDF

11. ☆TacDexGrasp: Compliant and Robust Dexterous Grasping with QP and Tactile Feedback

    Yubin Ke, Jiayi Chen, He Wang · PDF

12. ☆Tactile Memory with Soft Robot: Tactile Retrieval-based Contact-rich Manipulation with a Soft Wrist

    Tatsuya Kamijo, Mai Nishimura, Cristian Camilo Beltran-Hernandez, Masashi Hamaya · PDF

13. ☆Vision-Free Object 6D Pose Estimation for In-Hand Manipulation via Multi-Modal Haptic Attention

    Chanyoung Ahn, SungwooPark, Donghyun Hwang · PDF

14. ☆ViTacFormer: Learning Cross-Modal Representation for Visuo-Tactile Dexterous Manipulation

    Liang Heng, Haoran Geng, Kaifeng Zhang, Pieter Abbeel, Jitendra Malik · PDF

15. ☆Way-Tu: A Framework for Tool Selection and Manipulation Using Waypoint Representations

    Ece Kunduracioglu, Ozgur S. Oguz · PDF

16. ☆Zero-shot Sim2Real Transfer for Magnet-Based Tactile Sensor on Insertion Tasks

    Beining Han, Abhishek Joshi, Jia Deng · PDF