DexTouch-WM: Learning Action-Conditioned Tactile World Models from Human Touch for Dexterous Robot Manipulation
Learning predictive models of contact-rich dexterous manipulation requires dense tactile interaction, but such data are costly to scale on real robots and remain tied to embodiment-specific sensors. We introduce DexTouch-WM, an action-conditioned world model that learns from scalable human touch to jointly predict future RGB observations and bilateral tactile dynamics. Our insight is that human and robot manipulation share transferable contact dynamics when their tactile observations and action spaces are made compatible. We deploy flexible piezoresistive arrays with a shared sensing layout on both human and dexterous robot hands, and retarget human motion into the robot action space so t...
| Authors | Yan Qin, Yue Chen, Wenwei Lin et al. |
|---|---|
| Primary category | cs.RO |
| Published | 17 September 2026 |
| Last updated at source | 18 September 2026 |
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