mlsanityData to 7 Oct 2026

DEXOP: A Device for Robotic Transfer of Dexterous Human Manipulation

arXiv 2509.04441 ↗First posted 4 Sep 2025cs.RO cs.AI cs.CVcited by 15

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Abstract (arXiv)

We introduce perioperation, a paradigm for robotic data collection that sensorizes and records human manipulation while maximizing the transferability of the data to real robots. We implement this paradigm in DEXOP, a passive hand exoskeleton designed to maximize human ability to collect rich sensory (vision + tactile) data for diverse dexterous manipulation tasks in natural environments. DEXOP mechanically connects human fingers to robot fingers, providing users with direct contact feedback (via proprioception) and mirrors the human hand pose to the passive robot hand to maximize the transfer of demonstrated skills to the robot. The force feedback and pose mirroring make task demonstrations more natural for humans compared to teleoperation, increasing both speed and accuracy. We evaluate DEXOP across a range of dexterous, contact-rich tasks, demonstrating its ability to collect high-quality demonstration data at scale. Policies learned with DEXOP data significantly improve task performance per unit time of data collection compared to teleoperation, making DEXOP a powerful tool for advancing robot dexterity. Our project page is at https://dex-op.github.io.

Key facts. Cited by 15 papers in the map (data through 7 Oct 2026). Builds on 41 of its 56 references that are in the map. First posted on arXiv 4 Sep 2025.

Builds on

41 of 56 references.

References · 41

  1. 2023Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardwarecited by 1,490
  2. 2019Solving Rubik's Cube with a Robot Handcited by 699
  3. 2018Learning Dexterous In-Hand Manipulationcited by 643
  4. 2024Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robotscited by 373
  5. 2021DexMV: Imitation Learning for Dexterous Manipulation from Human Videoscited by 194
  6. 2023GELLO: A General, Low-Cost, and Intuitive Teleoperation Framework for Robot Manipulatorscited by 180
  7. 2021A System for General In-Hand Object Re-Orientationcited by 155
  8. 2024DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulationcited by 149
  9. 2024Open-TeleVision: Teleoperation with Immersive Active Visual Feedbackcited by 137
  10. 2024Reconciling Reality through Simulation: A Real-to-Sim-to-Real Approach for Robust Manipulationcited by 135
  11. 2023FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulationcited by 132
  12. 2019Grasping in the Wild:Learning 6DoF Closed-Loop Grasping from Low-Cost Demonstrationscited by 104
29 more
  1. 2022VideoDex: Learning Dexterity from Internet Videoscited by 101
  2. 2023On Bringing Robots Homecited by 101
  3. 2022Visual Dexterity: In-Hand Reorientation of Novel and Complex Object Shapescited by 92
  4. 2020State-Only Imitation Learning for Dexterous Manipulationcited by 90
  5. 2023General In-Hand Object Rotation with Vision and Touchcited by 87
  6. 2022DexVIP: Learning Dexterous Grasping with Human Hand Pose Priors from Videocited by 83
  7. 2018Dexterous Manipulation with Deep Reinforcement Learning: Efficient, General, and Low-Costcited by 79
  8. 2022From One Hand to Multiple Hands: Imitation Learning for Dexterous Manipulation from Single-Camera Teleoperationcited by 79
  9. 2023LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learningcited by 78
  10. 2024Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learningcited by 69
  11. 2025DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulationcited by 58
  12. 2021Generalization in Dexterous Manipulation via Geometry-Aware Multi-Task Learningcited by 49
  13. 2023AirExo: Low-Cost Exoskeletons for Learning Whole-Arm Manipulation in the Wildcited by 46
  14. 2025DexWild: Dexterous Human Interactions for In-the-Wild Robot Policiescited by 34
  15. 2024ACE: A Cross-Platform Visual-Exoskeletons System for Low-Cost Dexterous Teleoperationcited by 32
  16. 2025DexterityGen: Foundation Controller for Unprecedented Dexteritycited by 26
  17. 2018Task-Oriented Hand Motion Retargeting for Dexterous Manipulation Imitationcited by 25
  18. 2025DexForce: Extracting Force-informed Actions from Kinesthetic Demonstrations for Dexterous Manipulationcited by 21
  19. 2025AirExo-2: Scaling up Generalizable Robotic Imitation Learning with Low-Cost Exoskeletonscited by 17
  20. 2025DOGlove: Dexterous Manipulation with a Low-Cost Open-Source Haptic Force Feedback Glovecited by 16
  21. 2024DexHub and DART: Towards Internet Scale Robot Data Collectioncited by 11
  22. 2024EyeSight Hand: Design of a Fully-Actuated Dexterous Robot Hand with Integrated Vision-Based Tactile Sensors and Compliant Actuationcited by 7
  23. 2024Automatic Environment Shaping is the Next Frontier in RLcited by 6
  24. 2023DenseTact-Mini: An Optical Tactile Sensor for Grasping Multi-Scale Objects From Flat Surfacescited by 5
  25. 2025Grasp EveryThing (GET): 1-DoF, 3-Fingered Gripper with Tactile Sensing for Robust Graspingcited by 4
  26. 2025ExoStart: Efficient learning for dexterous manipulation with sensorized exoskeleton demonstrationscited by 3
  27. 2023Team Northeastern's Approach to ANA XPRIZE Avatar Final Testing: A Holistic Approach to Telepresence and Lessons Learnedcited by 2
  28. 2025TacCap: A Wearable FBG-Based Tactile Sensor for Seamless Human-to-Robot Skill Transfercited by 2
  29. 2024Print-N-Grip: A Disposable, Compliant, Scalable and One-Shot 3D-Printed Multi-Fingered Robotic Handcited by 1

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2025: 4; 2026: 11.

15 papers.

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  1. 2025ActiveUMI: Robotic Manipulation with Active Perception from Robot-Free Human Demonstrationscited by 17
  2. 2026SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulationcited by 10
  3. 2025SoftMimic: Learning Compliant Whole-body Control from Examplescited by 7
  4. 2025OSMO: Open-Source Tactile Glove for Human-to-Robot Skill Transfercited by 6
  5. 2026Multi-Camera View Scaling for Data-Efficient Robot Imitation Learningcited by 6
  6. 2026Cross-Hand Latent Representation for Vision-Language-Action Modelscited by 5
  7. 2026RoboPocket: Improve Robot Policies Instantly with Your Phonecited by 3
  8. 2026Towards Human-Like Manipulation through RL-Augmented Teleoperation and Mixture-of-Dexterous-Experts VLAcited by 3
  9. 2025MILE: A Mechanically Isomorphic Hand Exoskeleton and Visuotactile Robotic Hand for Data Collection in Dexterous Manipulationcited by 2
  10. 2026Play2Perfect: What Matters in Dexterous Play Pretraining for Precise Assembly?cited by 1
  11. 2026A Minimalist Retargeting-Guided Reinforcement Learning Recipe for Dexterous Manipulationcited by 1
  12. 2026Asynchronous Multimodal Diffusion Policy Composition via Latency-Aware Guidance Fusioncited by 0
3 more
  1. 2026CARF: Contrastive Attraction-Repulsion of Failure-Guided Flow Matchingcited by 0
  2. 2026Touch2Robot: Robot Touch in the Human Demonstration Loopcited by 0
  3. 2026Intelligence Across Embodimentscited by 0