DexTaG: Tactile-as-Guidance in Reinforcement Learning for Dexterous Manipulation

arXiv:2609.33882 · cs.RO · Submitted 2026-09-27 · Read on arXiv

cs.RO

Submitted: 2026-09-27

Updated: 2026-09-27

Code: https://github.com/Genesis-Embodied-AI/Genesis

Project page: https://dextag.github.io

Terminology

• Distillation — 8× in this paper · explained in 2 episodes
• Actor — 6× in this paper · explained in 3 episodes
• Generalization — 6× in this paper · explained in 13 episodes
• Reinforcement Learning — 5× in this paper · explained in 4 episodes
• Ablation — 3× in this paper · explained in 1 episode
• International Conference on Robotics and Automation — 3× in this paper
• Reinforcement Learning (RL) — 2× in this paper · explained in 25 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Calibration — 1× in this paper · explained in 7 episodes
• Data Augmentation — 1× in this paper · explained in 7 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Regret — 1× in this paper · explained in 3 episodes
• Sim-to-Real Gap — 1× in this paper · explained in 6 episodes
• Transformer — 1× in this paper · explained in 2 episodes

Sources

• AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System
• DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation
• DOGlove: Dexterous Manipulation with a Low-Cost Open-Source Haptic Force Feedback Glove
• Glovity: Learning Dexterous Contact-Rich Manipulation via Spatial Wrench Feedback Teleoperation System
• DEXOP: A Device for Robotic Transfer of Dexterous Human Manipulation
• WHED: A Wearable Hand Exoskeleton for Natural, High-Quality Demonstration Collection
• DexEXO: A Wearability-First Dexterous Exoskeleton for Operator-Agnostic Demonstration and Learning
• PhysHOI: Physics-Based Imitation of Dynamic Human-Object Interaction
• SPIDER: Scalable Physics-Informed Dexterous Retargeting
• DexMachina: Functional Retargeting for Bimanual Dexterous Manipulation
• PhysGraph: Physically-Grounded Graph-Transformer Policies for Bimanual Dexterous Hand-Tool-Object Manipulation
• Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization
• DexTrack: Towards Generalizable Neural Tracking Control for Dexterous Manipulation from Human References
• Learning Generalizable Hand-Object Tracking from Synthetic Demonstrations
• DexSynRefine: Synthesizing and Refining Human-Object Interaction Motion for Physically Feasible Dexterous Robot Actions
• ACE: A Cross-Platform Visual-Exoskeletons System for Low-Cost Dexterous Teleoperation
• Towards Human-Like Manipulation through RL-Augmented Teleoperation and Mixture-of-Dexterous-Experts VLA
• End-to-End Dexterous Arm-Hand VLA Policies via Shared Autonomy: VR Teleoperation Augmented by Autonomous Hand VLA Policy for Efficient Data Collection
• MILE: A Mechanically Isomorphic Hand Exoskeleton and Visuotactile Robotic Hand for Data Collection in Dexterous Manipulation
• Feel Robot Feels: Tactile Feedback Array Glove for Dexterous Manipulation

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