Cover Image

DexViTac: Collecting Human Visuo-Tactile-Kinematic Demonstrations for Contact-Rich Dexterous Manipulation

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Chen, Xitong, Pan, Yifeng, Li, Min, Ding, Xiaotian
Format:	Preprint
Published:	2026
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

ViTacFormer: Learning Cross-Modal Representation for Visuo-Tactile Dexterous Manipulation
by: Heng, Liang, et al.
Published: (2025)

FreeTacMan: Robot-free Visuo-Tactile Data Collection System for Contact-rich Manipulation
by: Wu, Longyan, et al.
Published: (2025)

3D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensing
by: Huang, Binghao, et al.
Published: (2024)

OmniVTA: Visuo-Tactile World Modeling for Contact-Rich Robotic Manipulation
by: Zheng, Yuhang, et al.
Published: (2026)

ViTaMIn: Learning Contact-Rich Tasks Through Robot-Free Visuo-Tactile Manipulation Interface
by: Liu, Fangchen, et al.
Published: (2025)

TacDexGrasp: Compliant and Robust Dexterous Grasping with Tactile Feedback
by: Ke, Yubin, et al.
Published: (2026)

TransDex: Pre-training Visuo-Tactile Policy with Point Cloud Reconstruction for Dexterous Manipulation of Transparent Objects
by: Li, Fengguan, et al.
Published: (2026)

Adaptive Visuo-Tactile Fusion with Predictive Force Attention for Dexterous Manipulation
by: Li, Jinzhou, et al.
Published: (2025)

DexCanvas: Bridging Human Demonstrations and Robot Learning for Dexterous Manipulation
by: Xu, Xinyue, et al.
Published: (2025)

ViViDex: Learning Vision-based Dexterous Manipulation from Human Videos
by: Chen, Zerui, et al.
Published: (2024)

TranTac: Leveraging Transient Tactile Signals for Contact-Rich Robotic Manipulation
by: Wu, Yinghao, et al.
Published: (2025)

DexTouch: Learning to Seek and Manipulate Objects with Tactile Dexterity
by: Lee, Kang-Won, et al.
Published: (2024)

DexiTac: Soft Dexterous Tactile Gripping
by: Lu, Chenghua, et al.
Published: (2024)

ViTaMIn-B: A Reliable and Efficient Visuo-Tactile Bimanual Manipulation Interface
by: Li, Chuanyu, et al.
Published: (2025)

DexDrummer: In-Hand, Contact-Rich, and Long-Horizon Dexterous Robot Drumming
by: Fang, Hung-Chieh, et al.
Published: (2026)

DexForce: Extracting Force-informed Actions from Kinesthetic Demonstrations for Dexterous Manipulation
by: Chen, Claire, et al.
Published: (2025)

ManiSkill-ViTac 2025: Challenge on Manipulation Skill Learning With Vision and Tactile Sensing
by: Li, Chuanyu, et al.
Published: (2024)

DexH2R: Task-oriented Dexterous Manipulation from Human to Robots
by: Zhao, Shuqi, et al.
Published: (2024)

Dex1B: Learning with 1B Demonstrations for Dexterous Manipulation
by: Ye, Jianglong, et al.
Published: (2025)

Learning Precise, Contact-Rich Manipulation through Uncalibrated Tactile Skins
by: Pattabiraman, Venkatesh, et al.
Published: (2024)

KineDex: Learning Tactile-Informed Visuomotor Policies via Kinesthetic Teaching for Dexterous Manipulation
by: Zhang, Di, et al.
Published: (2025)

DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation
by: Xu, Mengda, et al.
Published: (2025)

TacVLA: Contact-Aware Tactile Fusion for Robust Vision-Language-Action Manipulation
by: Zhang, Kaidi, et al.
Published: (2026)

Dexterous Contact-Rich Manipulation via the Contact Trust Region
by: Suh, H. J. Terry, et al.
Published: (2025)

TAMEn: Tactile-Aware Manipulation Engine for Closed-Loop Data Collection in Contact-Rich Tasks
by: Wu, Longyan, et al.
Published: (2026)

Canonical Representation and Force-Based Pretraining of 3D Tactile for Dexterous Visuo-Tactile Policy Learning
by: Wu, Tianhao, et al.
Published: (2024)

Visuo-Tactile Keypoint Correspondences for Object Manipulation
by: Kim, Jeong-Jung, et al.
Published: (2024)

TacUMI: A Multi-Modal Universal Manipulation Interface for Contact-Rich Tasks
by: Cheng, Tailai, et al.
Published: (2026)

DexImit: Learning Bimanual Dexterous Manipulation from Monocular Human Videos
by: Mu, Juncheng, et al.
Published: (2026)

PP-Tac: Paper Picking Using Tactile Feedback in Dexterous Robotic Hands
by: Lin, Pei, et al.
Published: (2025)

TacCompress: A Benchmark for Multi-Point Tactile Data Compression in Dexterous Hand
by: Zhao, Yan, et al.
Published: (2025)

Tac2Motion: Contact-Aware Reinforcement Learning with Tactile Feedback for Robotic Hand Manipulation
by: Kim, Yitaek, et al.
Published: (2025)

HumDex: Humanoid Dexterous Manipulation Made Easy
by: Heng, Liang, et al.
Published: (2026)

DexTac: Learning Contact-aware Visuotactile Policies via Hand-by-hand Teaching
by: Zhang, Xingyu, et al.
Published: (2026)

Learning to Feel the Future: DreamTacVLA for Contact-Rich Manipulation
by: Ye, Guo, et al.
Published: (2025)

TacO: Benchmarking Tactile Sensors for Object Manipulation
by: Zorin, Anya, et al.
Published: (2026)

DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation
by: Wang, Chen, et al.
Published: (2024)

Dexterous Manipulation Transfer via Progressive Kinematic-Dynamic Alignment
by: Bai, Wenbin, et al.
Published: (2025)

Master Micro Residual Correction with Adaptive Tactile Fusion and Force-Mixed Control for Contact-Rich Manipulation
by: Li, Xingting, et al.
Published: (2026)

UniBiDex: A Unified Teleoperation Framework for Robotic Bimanual Dexterous Manipulation
by: Li, Zhongxuan, et al.
Published: (2026)