arXiv Machine Learning November 2, 2026 By Ammar N. Abbas, Aayush Jain, Prashanth Viswanath, Nivesh Gadipudi, Giulia Vilone, Jim Gibbons

From Teleoperation to Long-Horizon Dexterity: Evaluating Visuomotor Skills and Offline Proxies for Dexterous Manipulation

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The study evaluated 281 imitation‑learning policies across seven families in 1,700 real‑robot trials of RJ45 connector grasping and insertion with a five‑fingered hand. Controlled ablations revealed that observation and action representations—such as ROI cropping, robot‑base framing, and point‑encoder normalization for point‑cloud policies, and absolute action prediction for vision‑language‑action policies—drastically improved success rates. Among 67 offline metrics, only five measures of predicted‑motion smoothness and directness correlated reliably with real‑world success, indicating that offline metrics can help shortlist policies but cannot replace actual robot testing.

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