RealDexUMI: A Wearable Universal Manipulation Interface for Dexterous Robot Learning

Abstract:Learning dexterous manipulation requires demonstrations that preserve fine hand-object interactions while remaining executable at deployment. Existing pipelines either lose deployable dexterity through retargeting or embodiment conversion, or rely on robot-specific teleoperation that is costly to scale and often lacks intuitive, contact-aware control for dexterous data collection. We present RealDexUMI, a wearable universal manipulation interface built around a shared dexterous end-effector module that integrates a lightweight dexterous hand, in-hand vision, and fingertip tactile sensing. A palm-side isomorphic teleoperation glove maps human finger inputs to robot-hand joint commands, enabling real-time, retargeting-free, intuitive, and precise hand control. The shared hand and sensing modules yield zero-gap end-effector data, with matched in-hand observations, tactile signals, contacts, and hand actions between collection and deployment. Across eight real-robot tasks spanning fine-grained, contact-rich, long-horizon, and bimanual manipulation, policies trained on RealDexUMI data achieve an average success rate of 88.75%, generalize to unseen initial poses, and transfer across three embodiments. Website: this https URL

Robotics (cs.RO)

arXiv:2606.06033 [cs.RO]

(or arXiv:2606.06033v2 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2606.06033 Focus to learn more arXiv-issued DOI via DataCite

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