OccluDex: Hierarchical 3D Visuo-Tactile Representation Learning for Egocentric Dexterous Manipulation under Self-Occlusion

arXiv:2609.39017 · cs.RO · Submitted 2026-09-30 · Read on arXiv

cs.RO

Submitted: 2026-09-30

Updated: 2026-09-30

Terminology

• Representation Learning — 16× in this paper · explained in 2 episodes
• Generalization — 7× in this paper · explained in 13 episodes
• Transformer — 7× in this paper · explained in 2 episodes
• Reinforcement Learning — 6× in this paper · explained in 4 episodes
• Ablation — 5× in this paper · explained in 1 episode
• Downstream Tasks — 3× in this paper · explained in 2 episodes
• Embeddings — 3× in this paper · explained in 2 episodes
• Point Clouds — 3× in this paper · explained in 2 episodes
• Ablation study — 2× in this paper · explained in 1 episode
• Accuracy — 2× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• Grounding — 2× in this paper · explained in 3 episodes
• Sim-to-Real Transfer — 2× in this paper · explained in 2 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Aggregation — 1× in this paper · explained in 1 episode
• Calibration — 1× in this paper · explained in 7 episodes
• Closed-Loop Control — 1× in this paper · explained in 3 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Latent Representation — 1× in this paper · explained in 2 episodes
• Proximal Policy Optimization (PPO) — 1× in this paper · explained in 5 episodes
• Reward Function — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Tokenization — 1× in this paper · explained in 2 episodes

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