Topic

Dexterous manipulation

Multi-fingered hands, in-hand reorientation, and contact-rich control of everyday objects.

26papers in 2026-07

2.23%of all cs.RO that month

+0.75ppshare change, last 6 vs prior 12 months

24-month volume

arXiv query: cat:cs.RO AND (abs:"dexterous manipulation" OR abs:"in-hand manipulation")

Presented at reading clubs

These already have a slide kit, so they are the fastest ones to pick up and present.

2026-02-18

EgoScale: Scaling Dexterous Manipulation with Diverse Egocentric Human Data

Ruijie Zheng, Dantong Niu, Yuqi Xie +12 · 71 citations

clubVision-language-action Dexterous manipulation

2026-02-06

DreamDojo: A Generalist Robot World Model from Large-Scale Human Videos

Shenyuan Gao, William Liang, Kaiyuan Zheng +27 · 96 citations

clubWorld models Dexterous manipulation

2025-11-20

Dexterity from Smart Lenses: Multi-Fingered Robot Manipulation with In-the-Wild Human Demonstrations

Irmak Guzey, Haozhi Qi, Julen Urain +10 · 16 citations

clubDexterous manipulation Egocentric & human data

2025-05-28

DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation

Mengda Xu, Han Zhang, Yifan Hou +4 · 111 citations

clubDexterous manipulation Data collection & teleoperation

2025-05-16

EgoDex: Learning Dexterous Manipulation from Large-Scale Egocentric Video

Ryan Hoque, Peide Huang, David J. Yoon +2 · 193 citations

clubICLR 2026Dexterous manipulation Egocentric & human data

2021-12-13

Learning Generalizable Vision-Tactile Robotic Grasping Strategy for Deformable Objects via Transformer

Yunhai Han, Kelin Yu, Rahul Batra +6 · 105 citations

clubDexterous manipulation Tactile & force sensing

Recent work

2026-08-27

Task-space model-based control of pneumatic soft actuators

Nithin S. Kumar, Joshua Gaston, D. Caleb Rucker +1

Dexterous manipulation Hardware & morphology co-design

2026-08-27

Active Surface-Driven Reconfigurable Gripper: Robust Grasping and Sequential Manipulation of Thin Objects

Ziyi Zheng, Keqi Zhu, Hao Wu +2

Dexterous manipulation Safety & evaluation

2026-08-27

Rapid On-Robot Learning for Dynamic Manipulation Skills: Robot Juggling

Taeyoon Lee, Chunpeng Wang, Christopher G. Atkeson +2

Dexterous manipulation Simulation, sim-to-real & benchmarks

2026-08-27

MeshPriorDiT: Hierarchical Modeling for Action-Conditioned Cloth Dynamics

Zihang Wang, Jianming Hu, Shang Su +4

Dexterous manipulation

2026-08-27

FLARE: A Failure-Aware Framework for Autonomous Correction and Recovery in Visual-Language Robotic Manipulation

Ganlong Zhao, Zijia Tang, Xingping Chen +3

CVPR 2026Vision-language-action Dexterous manipulation

2026-08-27

Relaxation-Aware Multimodal Sensing of Soft Gripper Driven by Structure-Perception-Learning

Yanzhe Wang, Hao Wu, Ziyi Zheng +1

RSS 2026Dexterous manipulation Hardware & morphology co-design

2026-08-27

TrapVLA: Trapping Vision-Language-Action Models in Configured Failure Modes

Jun-Hui Liu, Kun-Yu Lin, Yi-Lin Wei +9

Vision-language-action Dexterous manipulation

2026-08-26

Fast Generative Grasping via Lie Group-Constrained MeanFlow

S. Talha Bukhari, Yi Wei, Ruiqi Ni +2

Dexterous manipulation

2026-08-26

Low-Resolution Perception for Robotic Packing

Giuseppe Fabio Preziosa, Federico Vignoni, Chiara Castellano +3

Dexterous manipulation

2026-08-26

VISTA: Visually Inferred Spatial ConTact Attention for Contact-Rich Manipulation

Jiayi Chen, Wenlong Dong, Yan Huang +5

Dexterous manipulation Tactile & force sensing

2026-08-26

Leveraging Inter-object Affordances for Efficient Planning in Contact-rich Tasks

Pouya P. Niaz, Justus Piater, Alejandro Agostini

Dexterous manipulation Tactile & force sensing

2026-08-26

A Tendon-Driven Five-Fingered Hand with Distributed Tactile Perception for Dexterous Manipulation

Huayang Chen, Longhui Qin

Dexterous manipulation Tactile & force sensing

2026-08-25

Development of a Voice-Controlled Tendon-Driven Bionic Hand

Urja Kohli, Shagata Chanda, Kritika Gandhi +3

Dexterous manipulation

2026-08-25

Gripper-aware Vision Language Action Models

Hanyi Zhang, Zihong Luo, Tianyu Li +16

Vision-language-action Dexterous manipulation

2026-08-25

Fiber Optic Sensing Glove for High Performance Dexterous Manipulation Capture

J. D. Peiffer, Taylor Niehues, Li Guan +2

Dexterous manipulation Egocentric & human data

2026-08-25

Sensorless damage-safe grasping

Yusei Shuto, Danilo Vasconcellos Vargas

Dexterous manipulation Tactile & force sensing

2026-08-23

EMPIRE: Explicit Manipulation Planning as a Learnable Intermediate Representation for Egocentric Hand-Motion Forecasting

Wen Wang, Ruibing Hou, Hong Chang +2

Dexterous manipulation Egocentric & human data

2026-08-23

LD4WAM: Learning Latent Dynamics from Human Videos for World Action Models

Zhenhao Shen, Jiaqi Liang, Jasper Lu +11

World models Dexterous manipulation

2026-08-23

Beyond Instance Slots: Semantically Rich World Models for Physical Interaction Planning

Juntao Cheng, Jingkai Wang, Yijun Shen +2

World models Dexterous manipulation

2026-08-22

Vision-Guided Morphing Quadcopter for Multi-Geometry Payload Transport through Narrow Passages

Aashish Sahu, Shriram Hari, R. Prasanth Kumar

Dexterous manipulation Tactile & force sensing

2026-08-21

Force/Torque-Based Kinematic Adaptation for Robotic Manipulation Tasks

Carl Glen Henshaw

Dexterous manipulation Tactile & force sensing

2026-08-21

GOLEM: Modular Humanoid Autonomy Towards Electric Vehicle Battery Disassembly

Max Conway, William Xie, Allen Devaraj +14

Dexterous manipulation Humanoids & locomotion

2026-08-21

ViTacPhys: Physical Property-Aware Grasping from Human Visual-Tactile Demonstrations

Yiwen Liu, Yujun Zhu, Kui Jia +3

Dexterous manipulation Egocentric & human data

2026-08-21

Hybrid Roller-Jamming Gripper for Object Acquisition and Retention Under Pose Uncertainty

Yijie Ren, Guillaume Gourmelen, Hiroyasu Iwata

Dexterous manipulation

2026-08-21

GhostTac: Manipulating Tactile Sensors without Physical Contact

Kun Wang, Xuancun Lu, Ruochen Zhou +6

Dexterous manipulation Tactile & force sensing

2026-08-21

ForeTime-VLA: Causal Future-Token Distillation from a World Action Model for Conveyor-Belt Manipulation

Siyuan Ma, Yutian Zhang, Boshi Zhang +4

World models Vision-language-action

2026-08-20

Koala Gripper: Co-designing Robotic Grippers and Data-Capture Devices for Scaling Dexterous Manipulation Learning

Amar Hajj-Ahmad, Zubin Kremer Guha, Tim Fofonoff +8

Dexterous manipulation Data collection & teleoperation

2026-08-20

CoToGrasp: Contact-Topology-Conditioned Dexterous Grasp Synthesis via Canonical Workspace Learning

Julien Merand, Boris Meden, Liming Chen +1 · 1 citation

Dexterous manipulation Data collection & teleoperation

2026-08-20

GOAG: Generative and Object-Agnostic Grasp Planner for Dexterous Robotic Manipulation

Julien Merand, Boris Meden, Mathieu Grossard +1 · 1 citation

Dexterous manipulation

2026-08-20

HiTac-WAM: A Hierarchical Tactile World Action Model for Contact-Rich Robot Manipulation

Chao Xue, Chaofan Zhang, Wenxuan Ma +3

Dexterous manipulation Tactile & force sensing

2026-08-19

When Automata Meet Streams: Temporal Logic Compilation for Stream-Based Robotics Task and Motion Planning

Sayem Nazmuz Zaman, Cyrus Neary

Dexterous manipulation Safety & evaluation

2026-08-19

Hybrid Feedback Sampling for Sample-Efficient Model Predictive Control

Chaoyi Pan, Zeji Yi, John Zhang +3

Dexterous manipulation Humanoids & locomotion

2026-08-19

The Missing Touch: Spatially Distributed Tactile Feedback Brings Teleoperation Closer to Human Dexterity

Rohan Kota, Gregory Reardon, J. Edward Colgate

Dexterous manipulation Tactile & force sensing

2026-08-19

PartialBiGrasp: Inferring Hidden Local Geometry for Bimanual Grasping from Partial Views

Ayush Kaura, Vignesh Vembar, Md Faizal Karim +2

Dexterous manipulation 3D & spatial reasoning

2026-08-19

ADEPT: Accelerating Dexterity via Pre-Training and Post-Training using Reinforcement Learning

Jayjun Lee, Jessica Yin, Asif Rana +7

Dexterous manipulation Tactile & force sensing

2026-08-19

LabDex: A Hierarchical Benchmark for Dexterous Manipulation in Laboratories

Zhipeng Tang, Sihang Chen, Sha Zhang +11

Dexterous manipulation Simulation, sim-to-real & benchmarks

2026-08-19

An Experimental Study of Downwash Effects on a Continuum Manipulator Integrated with a Multirotor UAV

Anuraj Uthayasooriyan, Krishna Manaswi Digumarti, ernando Vanegas +1

RA-LDexterous manipulation Navigation & mobility

2026-08-19

Backward Layout Search for Sequence-Constrained Robotic Assembly

Xi Zhang, Jiancong Dai, Hao Chen +3

Dexterous manipulation

2026-08-19

HarvestPoint-ACT: Explicit Target Selection and Harvest-Point Conditioning for Robotic Fruit Harvesting under Occlusion

Hanying Hu, Weipeng Li, Yikun Huang +4

Dexterous manipulation Imitation & diffusion policies

2026-08-18

Force-Based Offset Estimation for Keyed Peg-in-Hole Assembly Using Local Gaussian Process Regression

Chandra Yuvesh Aubeeluck, Abilash Philip Madavath, Augustin Raju +3

Dexterous manipulation Human-robot interaction

378 papers in this corpus carry the dexterous manipulation tag. How tagging works.