arXiv:2608.29601v2 Announce Type: replace-cross Abstract: We present $N_0$-Foundation, a paradigm for tactile-enabled embodied manipulation, which integrates tactile sensing hardware, large-scale mul...
arXiv:2608.29601v1 Announce Type: cross Abstract: We present $\mathcal{N}_0$-Foundation, a paradigm for tactile-enabled embodied manipulation, which integrates tactile sensing hardware, large-scale m...
arXiv:2609.34182v2 Announce Type: replace-cross Abstract: Dexterous manipulation requires tactile feedback. However, robot tactile demonstrations are difficult to scale,because dexterous-hand teleope...
arXiv:2609.24976v1 Announce Type: cross Abstract: Dexterous manipulation depends on contact dynamics that are often only partially observable from vision. Recent World-Action Models (WAMs) couple pre...
arXiv:2606. 11767v1 Announce Type: cross Abstract: Blind grasping with a dexterous hand is a crucial manipulation capability.
Tactus is a textile‑integrated glove that combines a thin, conformal 3D‑knit design with strategically placed capacitive tactile sensors and IMU‑fused pose tracking to capture natural human manipulation. It offers a calibrated, cross‑glove consistency pipeline and per‑session subject correction, achieving a minimum detectable force of 0.59 N and fingertip pose error of 11.0 mm even under heavy occlusion. The authors benchmark Tactus against two commercial gloves, presenting the first quantitative cross‑platform evaluation of tactile force regression and hand pose estimation.
SoTa is a low‑cost, capacitive tactile skin that offers full‑hand coverage for both humans and robots, featuring a shared layout of 202 taxels across finger and palm regions. The multilayer design with fabric electrodes allows in‑house fabrication for under $10 in materials, and the sensor maintains over 97% of its response after 10,000 loading‑unloading cycles and 1,280 tight‑fist folds. Using SoTa, human‑robot co‑training improves in‑distribution success on three contact‑rich manipulation tasks, and adding human demonstrations more than doubles mean success across eight evaluation conditions, from 22.8% to 45.9%, including all out‑of‑distribution scenarios.
arXiv:2609.24660v2 Announce Type: cross Abstract: Human demonstrations offer a scalable way to collect manipulation data, but their contacts may be unstable or infeasible when transferred to a robot...
arXiv:2606. 11743v1 Announce Type: cross Abstract: Vision-language-action (VLA) models provide strong visual, language, and action priors for robot manipulation, but visual observations alone often miss the local contact state required for contact-rich tasks.
arXiv:2610.10288v1 Announce Type: new Abstract: Large-scale egocentric human interaction data is becoming an important source of physical supervision for embodied learning, yet video alone leaves the...
TACROSS is a low‑cost, scalable system that enables robots to learn from human touch by aligning tactile streams at the level of contact events rather than raw sensor values. It combines a $10.86 piezoresistive glove with 285 sensing points and a temporal Transformer that maps heterogeneous signals into a shared 256‑dimensional latent space. The approach uses robot demonstrations for action supervision while human demonstrations aid tactile representation learning, achieving a 3.5‑fold efficiency improvement and a 95.7% reduction in demonstration equipment cost across four manipulation tasks.
The survey examines dexterous robotic hands in the context of foundation models, covering hardware, data, cross-embodiment transfer, learning, and evaluation from January 2024 to November 2026. It highlights that human data’s value hinges on alignment rather than volume, that shared policies still face embodiment constraints, and that task success alone does not guarantee physical correctness or readiness for deployment. The authors identify eleven open problems and suggest reporting standards to better measure full-stack progress.