Awesome-Dexterous-Manipulation

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Content

• Awesome-Dexterous-Manipulation
  • Content
  • Teleoperation
  • Reinforcement Learning for Dexterous Manipulation
  • Learning From Video
  • Sim2Real / Co-Train
  • Hardware
  • Tactile Dexterous Manipulation
  • VLM / VLA
  • Cool Idea
  • Products

Teleoperation

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

Reinforcement Learning for Dexterous Manipulation

• [ICRA 2025] Ankile, L., Simeonov, A., Shenfeld, I., Torne, M., & Agrawal, P. (2024). From Imitation to Refinement--Residual RL for Precise Assembly. - arXiv

Learning From Video

• [arXiv] Kareer, S., Patel, D., Punamiya, R., Mathur, P., Cheng, S., Wang, C., ... & Xu, D. (2024). Egomimic: Scaling imitation learning via egocentric video. - arXiv, Website
• [CoRL 2022] Shaw, K., Bahl, S., & Pathak, D. (2023, March). Videodex: Learning dexterity from internet videos. - arXiv, Website
• [arXiv] Qiu, R. Z., Yang, S., Cheng, X., Chawla, C., Li, J., He, T., ... & Wang, X. (2025). Humanoid Policy~ Human Policy. - arXiv, Website

Sim2Real / Co-Train

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

Hardware

• [IROS 2024] Romero, B., Fang, H. S., Agrawal, P., & Adelson, E. (2024, October). Eyesight hand: Design of a fully-actuated dexterous robot hand with integrated vision-based tactile sensors and compliant actuation. In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 1853-1860). IEEE. - arXiv
• [Humanoids 2023] Mannam, P., Shaw, K., Bauer, D., Oh, J., Pathak, D., & Pollard, N. (2023, December). Designing anthropomorphic soft hands through interaction. In 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids) (pp. 1-8). IEEE. - arXiv
• [RSS 2023] Shaw, K., Agarwal, A., & Pathak, D. (2023). Leap hand: Low-cost, efficient, and anthropomorphic hand for robot learning. - arXiv
• [Nature Communications] Kim, U., Jung, D., Jeong, H., Park, J., Jung, H. M., Cheong, J., ... & Park, C. (2021). Integrated linkage-driven dexterous anthropomorphic robotic hand. Nature communications, 12(1), 1-13. - Paper
• [ICRA 2012] Bridgwater, L. B., Ihrke, C. A., Diftler, M. A., Abdallah, M. E., Radford, N. A., Rogers, J. M., ... & Linn, D. M. (2012, May). The robonaut 2 hand-designed to do work with tools. In 2012 IEEE International Conference on Robotics and Automation (pp. 3425-3430). IEEE. - Paper

Tactile Dexterous Manipulation

• [ICRA 2021] Dong, S., Jha, D. K., Romeres, D., Kim, S., Nikovski, D., & Rodriguez, A. (2021, May). Tactile-rl for insertion: Generalization to objects of unknown geometry. - arXiv
• [RAL] Q. Wu, H. Wang, J. Zhou, X. Xiong and Y. Lou. (2025) "TARS: Tactile Affordance in Robot Synesthesia for Dexterous Manipulation" - Paper
• [ICRA 2025] Wu, T., Li, J., Zhang, J., Wu, M., & Dong, H. (2024). Canonical representation and force-based pretraining of 3d tactile for dexterous visuo-tactile policy learning. - arXiv
• [arXiv] Li, J., Wu, T., Zhang, J., Chen, Z., Jin, H., Wu, M., ... & Dong, H. (2025). Adaptive Visuo-Tactile Fusion with Predictive Force Attention for Dexterous Manipulation. - arXiv, Website

VLM / VLA

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

Cool Idea

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

Products

• [Shadow Dexterous Hand] - Website
• [Shadow Dex EE Hand] - Website
• [qb Softhand] - Website
• [SVH Hand] - Website
• [Psyonic Hand] - Website