Awesome-Dexterous-Manipulation

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Content

• Teleoperation
• Learning From Video
• Simulation
• Hardware

Teleoperation

• [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
• [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
• [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

Learning From Video

• [CoRL 2022] Shaw, K., Bahl, S., & Pathak, D. (2023, March). Videodex: Learning dexterity from internet videos. - arXiv, website
• Kareer, S., Patel, D., Punamiya, R., Mathur, P., Cheng, S., Wang, C., ... & Xu, D. (2024). Egomimic: Scaling imitation learning via egocentric video. - arXiv, website

Sim2Real

• [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

Hardware

• Romero, B., Fang, H. S., Agrawal, P., & Adelson, E. (2024). Eyesight hand: Design of a fully-actuated dexterous robot hand with integrated vision-based tactile sensors and compliant actuation. - arXiv
• [RSS 2023] Shaw, K., Agarwal, A., & Pathak, D. (2023). Leap hand: Low-cost, efficient, and anthropomorphic hand for robot learning. - arXiv

Tactile

• [RAL] Q. Wu, H. Wang, J. Zhou, X. Xiong and Y. Lou. (2025) "TARS: Tactile Affordance in Robot Synesthesia for Dexterous Manipulation" - paper

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