# DEXOP: A Device for Robotic Transfer of Dexterous Human Manipulation

arXiv: https://arxiv.org/abs/2509.04441 · HTML: https://mlsanity.com/paper/2509.04441/

## Key facts

- Cited by 19 papers in the map (data through 14 Oct 2026).
- Builds on 41 of its 56 references that are in the map.
- First posted on arXiv 4 Sep 2025.

## Builds on (most cited first, 30 of 41)

- [Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware](https://mlsanity.com/paper/2304.13705/) (2023)
- [Solving Rubik's Cube with a Robot Hand](https://mlsanity.com/paper/1910.07113/) (2019)
- [Learning Dexterous In-Hand Manipulation](https://mlsanity.com/paper/1808.00177/) (2018)
- [Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots](https://mlsanity.com/paper/2402.10329/) (2024)
- [DexMV: Imitation Learning for Dexterous Manipulation from Human Videos](https://mlsanity.com/paper/2108.05877/) (2021)
- [GELLO: A General, Low-Cost, and Intuitive Teleoperation Framework for Robot Manipulators](https://mlsanity.com/paper/2309.13037/) (2023)
- [A System for General In-Hand Object Re-Orientation](https://mlsanity.com/paper/2111.03043/) (2021)
- [DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation](https://mlsanity.com/paper/2403.07788/) (2024)
- [Open-TeleVision: Teleoperation with Immersive Active Visual Feedback](https://mlsanity.com/paper/2407.01512/) (2024)
- [Reconciling Reality through Simulation: A Real-to-Sim-to-Real Approach for Robust Manipulation](https://mlsanity.com/paper/2403.03949/) (2024)
- [FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulation](https://mlsanity.com/paper/2305.12821/) (2023)
- [Grasping in the Wild:Learning 6DoF Closed-Loop Grasping from Low-Cost Demonstrations](https://mlsanity.com/paper/1912.04344/) (2019)
- [VideoDex: Learning Dexterity from Internet Videos](https://mlsanity.com/paper/2212.04498/) (2022)
- [Visual Dexterity: In-Hand Reorientation of Novel and Complex Object Shapes](https://mlsanity.com/paper/2211.11744/) (2022)
- [On Bringing Robots Home](https://mlsanity.com/paper/2311.16098/) (2023)
- [General In-Hand Object Rotation with Vision and Touch](https://mlsanity.com/paper/2309.09979/) (2023)
- [State-Only Imitation Learning for Dexterous Manipulation](https://mlsanity.com/paper/2004.04650/) (2020)
- [DexVIP: Learning Dexterous Grasping with Human Hand Pose Priors from Video](https://mlsanity.com/paper/2202.00164/) (2022)
- [Dexterous Manipulation with Deep Reinforcement Learning: Efficient, General, and Low-Cost](https://mlsanity.com/paper/1810.06045/) (2018)
- [From One Hand to Multiple Hands: Imitation Learning for Dexterous Manipulation from Single-Camera Teleoperation](https://mlsanity.com/paper/2204.12490/) (2022)
- [LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learning](https://mlsanity.com/paper/2309.06440/) (2023)
- [Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning](https://mlsanity.com/paper/2407.03162/) (2024)
- [DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation](https://mlsanity.com/paper/2505.21864/) (2025)
- [Generalization in Dexterous Manipulation via Geometry-Aware Multi-Task Learning](https://mlsanity.com/paper/2111.03062/) (2021)
- [AirExo: Low-Cost Exoskeletons for Learning Whole-Arm Manipulation in the Wild](https://mlsanity.com/paper/2309.14975/) (2023)
- [DexWild: Dexterous Human Interactions for In-the-Wild Robot Policies](https://mlsanity.com/paper/2505.07813/) (2025)
- [ACE: A Cross-Platform Visual-Exoskeletons System for Low-Cost Dexterous Teleoperation](https://mlsanity.com/paper/2408.11805/) (2024)
- [DexterityGen: Foundation Controller for Unprecedented Dexterity](https://mlsanity.com/paper/2502.04307/) (2025)
- [Task-Oriented Hand Motion Retargeting for Dexterous Manipulation Imitation](https://mlsanity.com/paper/1810.01845/) (2018)
- [DexForce: Extracting Force-informed Actions from Kinesthetic Demonstrations for Dexterous Manipulation](https://mlsanity.com/paper/2501.10356/) (2025)

## Built on by (most cited first, 19 of 19)

- [ActiveUMI: Robotic Manipulation with Active Perception from Robot-Free Human Demonstrations](https://mlsanity.com/paper/2510.01607/) (2025)
- [SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulation](https://mlsanity.com/paper/2602.16863/) (2026)
- [SoftMimic: Learning Compliant Whole-body Control from Examples](https://mlsanity.com/paper/2510.17792/) (2025)
- [OSMO: Open-Source Tactile Glove for Human-to-Robot Skill Transfer](https://mlsanity.com/paper/2512.08920/) (2025)
- [Cross-Hand Latent Representation for Vision-Language-Action Models](https://mlsanity.com/paper/2603.10158/) (2026)
- [Multi-Camera View Scaling for Data-Efficient Robot Imitation Learning](https://mlsanity.com/paper/2604.00557/) (2026)
- [Towards Human-Like Manipulation through RL-Augmented Teleoperation and Mixture-of-Dexterous-Experts VLA](https://mlsanity.com/paper/2603.08122/) (2026)
- [RoboPocket: Improve Robot Policies Instantly with Your Phone](https://mlsanity.com/paper/2603.05504/) (2026)
- [A Minimalist Retargeting-Guided Reinforcement Learning Recipe for Dexterous Manipulation](https://mlsanity.com/paper/2607.11874/) (2026)
- [MILE: A Mechanically Isomorphic Hand Exoskeleton and Visuotactile Robotic Hand for Data Collection in Dexterous Manipulation](https://mlsanity.com/paper/2512.00324/) (2025)
- [Play2Perfect: What Matters in Dexterous Play Pretraining for Precise Assembly?](https://mlsanity.com/paper/2606.26428/) (2026)
- [Asynchronous Multimodal Diffusion Policy Composition via Latency-Aware Guidance Fusion](https://mlsanity.com/paper/2607.17257/) (2026)
- [HandelBot: Real-World Piano Playing via Fast Adaptation of Dexterous Robot Policies](https://mlsanity.com/paper/2603.12243/) (2026)
- [CARF: Contrastive Attraction-Repulsion of Failure-Guided Flow Matching](https://mlsanity.com/paper/2609.21982/) (2026)
- [Touch2Robot: Robot Touch in the Human Demonstration Loop](https://mlsanity.com/paper/2609.24660/) (2026)
- [Intelligence Across Embodiments](https://mlsanity.com/paper/2609.27095/) (2026)
- [DexTaG: Tactile-as-Guidance in Reinforcement Learning for Dexterous Manipulation](https://mlsanity.com/paper/2609.33882/) (2026)
- [SoTa: Soft Tactile Skins for Dexterous Manipulation](https://mlsanity.com/paper/2610.02338/) (2026)
- [Beyond the End-Effector: Learning Whole-Arm Contact Manipulation from Human Demonstrations](https://mlsanity.com/paper/2610.17802/) (2026)

## 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.