mlsanityData to 14 Oct 2026

Bimanual Dexterity for Complex Tasks

arXiv 2411.13677 ↗First posted 20 Nov 2024cs.RO cs.AI cs.CVcited by 25

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Abstract (arXiv)

To train generalist robot policies, machine learning methods often require a substantial amount of expert human teleoperation data. An ideal robot for humans collecting data is one that closely mimics them: bimanual arms and dexterous hands. However, creating such a bimanual teleoperation system with over 50 DoF is a significant challenge. To address this, we introduce Bidex, an extremely dexterous, low-cost, low-latency and portable bimanual dexterous teleoperation system which relies on motion capture gloves and teacher arms. We compare Bidex to a Vision Pro teleoperation system and a SteamVR system and find Bidex to produce better quality data for more complex tasks at a faster rate. Additionally, we show Bidex operating a mobile bimanual robot for in the wild tasks. The robot hands (5k USD) and teleoperation system (7k USD) is readily reproducible and can be used on many robot arms including two xArms (16k USD). Website at https://bidex-teleop.github.io/

Key facts. Cited by 25 papers in the map (data through 14 Oct 2026). Builds on 31 of its 46 references that are in the map. First posted on arXiv 20 Nov 2024.

Builds on

31 of 46 references.

References · 31

  1. 2020An Image is Worth 16x16 Words: Transformers for Image Recognition at Scalecited by 30,186
  2. 2023Diffusion Policy: Visuomotor Policy Learning via Action Diffusioncited by 2,838
  3. 2023Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardwarecited by 1,568
  4. 2015End-to-End Training of Deep Visuomotor Policiescited by 875
  5. 2023Open X-Embodiment: Robotic Learning Datasets and RT-X Modelscited by 862
  6. 2024DROID: A Large-Scale In-The-Wild Robot Manipulation Datasetcited by 852
  7. 2018QT-Opt: Scalable Deep Reinforcement Learning for Vision-Based Robotic Manipulationcited by 743
  8. 2019Solving Rubik's Cube with a Robot Handcited by 734
  9. 2021What Matters in Learning from Offline Human Demonstrations for Robot Manipulationcited by 725
  10. 2023BridgeData V2: A Dataset for Robot Learning at Scalecited by 657
  11. 2021RMA: Rapid Motor Adaptation for Legged Robotscited by 508
  12. 2019Learning agile and dynamic motor skills for legged robotscited by 504
19 more
  1. 2024Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robotscited by 394
  2. 2024Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperationcited by 391
  3. 2023Reconstructing Hands in 3D with Transformerscited by 306
  4. 2019RoboNet: Large-Scale Multi-Robot Learningcited by 270
  5. 2023GELLO: A General, Low-Cost, and Intuitive Teleoperation Framework for Robot Manipulatorscited by 189
  6. 2021FrankMocap: A Monocular 3D Whole-Body Pose Estimation System via Regression and Integrationcited by 169
  7. 2024DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulationcited by 160
  8. 2023AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation Systemcited by 152
  9. 2019DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm Systemcited by 114
  10. 2022Robot Learning on the Job: Human-in-the-Loop Autonomy and Learning During Deploymentcited by 108
  11. 2019Grasping in the Wild:Learning 6DoF Closed-Loop Grasping from Low-Cost Demonstrationscited by 107
  12. 2022Robotic Telekinesis: Learning a Robotic Hand Imitator by Watching Humans on Youtubecited by 82
  13. 2023LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learningcited by 79
  14. 2024Learning Visuotactile Skills with Two Multifingered Handscited by 76
  15. 2022Holo-Dex: Teaching Dexterity with Immersive Mixed Realitycited by 57
  16. 2023An Unbiased Look at Datasets for Visuo-Motor Pre-Trainingcited by 42
  17. 2023Dexterous Functional Graspingcited by 39
  18. 2024Adaptive Mobile Manipulation for Articulated Objects In the Open Worldcited by 31
  19. 2023Designing Anthropomorphic Soft Hands through Interactioncited by 4

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2025: 17; 2026: 8.

25 papers.

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  1. 2025TWIST: Teleoperated Whole-Body Imitation Systemcited by 101
  2. 2025ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learningcited by 66
  3. 2025DexWild: Dexterous Human Interactions for In-the-Wild Robot Policiescited by 38
  4. 2025DexMachina: Functional Retargeting for Bimanual Dexterous Manipulationcited by 37
  5. 2025FACTR: Force-Attending Curriculum Training for Contact-Rich Policy Learningcited by 34
  6. 2025BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activitiescited by 31
  7. 2026SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulationcited by 15
  8. 2025Learning to Transfer Human Hand Skills for Robot Manipulationscited by 11
  9. 2025VLMgineer: Vision Language Models as Robotic Toolsmithscited by 10
  10. 2025METIS: Multi-Source Egocentric Training for Integrated Dexterous Vision-Language-Action Modelcited by 10
  11. 2025Human2LocoMan: Learning Versatile Quadrupedal Manipulation with Human Pretrainingcited by 9
  12. 2025Learning Bimanual Manipulation via Action Chunking and Inter-Arm Coordination with Transformerscited by 8
13 more
  1. 2025LLM+MAP: Bimanual Robot Task Planning using Large Language Models and Planning Domain Definition Languagecited by 7
  2. 2025MoMaGen: Generating Demonstrations under Soft and Hard Constraints for Multi-Step Bimanual Mobile Manipulationcited by 7
  3. 2025Real-Time Operator Takeover for Visuomotor Diffusion Policy Trainingcited by 5
  4. 2026SkillVLA: Tackling Combinatorial Diversity in Dual-Arm Manipulation via Skill Reusecited by 5
  5. 2025LodeStar: Long-horizon Dexterity via Synthetic Data Augmentation from Human Demonstrationscited by 4
  6. 2026A Minimalist Retargeting-Guided Reinforcement Learning Recipe for Dexterous Manipulationcited by 4
  7. 2025MILE: A Mechanically Isomorphic Hand Exoskeleton and Visuotactile Robotic Hand for Data Collection in Dexterous Manipulationcited by 2
  8. 2025AhaRobot: A Low-Cost Open-Source Bimanual Mobile Manipulator for Embodied AIcited by 1
  9. 2026Play2Perfect: What Matters in Dexterous Play Pretraining for Precise Assembly?cited by 1
  10. 2026HandelBot: Real-World Piano Playing via Fast Adaptation of Dexterous Robot Policiescited by 0
  11. 2026IM-ENGINE: Image Editing for Embodied Data Generationcited by 0
  12. 2026SoTa: Soft Tactile Skins for Dexterous Manipulationcited by 0
  13. 2026Force-Modulated Dexterity: Unified Compliance for Contact-Rich Manipulationcited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2025MiniBEE: A New Form Factor for Compact Bimanual Dexterity ↗
  2. 2024Learning Diverse Bimanual Dexterous Manipulation Skills from Human Demonstrations
  3. 2024Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning
  4. 2025GR-Dexter Technical Report
  5. 2024ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperation
  6. 2026HumDex: Humanoid Dexterous Manipulation Made Easy
  7. 2025Open TeleDex: A Hardware-Agnostic Teleoperation System for Imitation Learning based Dexterous Manipulation
  8. 2022A System for Imitation Learning of Contact-Rich Bimanual Manipulation Policies