arxivcs.RO2026-07-13
Towards Human-level Dexterous Teleoperation
Puhao Li, Zeyuan Chen, Yingying Wu, Pengkun Wei, Yuyang Li, Tianyu Wang, et al.
Humans routinely wield tools, swap grasps, and reposition objects within a single hand, seamlessly orchestrating contact transitions that span translation, reorientation, and finger gaiting. Endowing robot dexterous hands with this level of in-hand dexterity through teleoperation…