Unified Visual-Tactile-Action Modeling from Human Demonstrations for Dexterous Manipulation
Dexterous manipulation requires tactile feedback. However, robot tactile demonstrations are difficult to scale,because dexterous-hand teleoperation provides limited tactile feedback to the operator. In contrast, human demonstrations offer a substantially more scalable source of diverse tactile interactions. Motivated by a simple premise: hands can change, but the underlying physics of interaction does not. We leverage human tactile data to improve dexterous manipulation policies. Specifically, we first build a tactile motion-capture system that synchronously records images, tactile signals, and hand motions. Using this system, we construct the UVTA dataset spanning five contact-rich tasks...
| Authors | Wenqiao Li, Qianyou Zhao, Jiawen Hao et al. |
|---|---|
| Primary category | cs.RO |
| Published | 28 September 2026 |
| Last updated at source | 29 September 2026 |
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