{"id":47473158,"url":"https://github.com/kingchou007/Dexterous-Manipulation","last_synced_at":"2026-04-08T21:00:57.278Z","repository":{"id":250853292,"uuid":"835669390","full_name":"kingchou007/Dexterous-Manipulation","owner":"kingchou007","description":"A curated collection of resources, papers, and tools on dexterous manipulation.","archived":false,"fork":false,"pushed_at":"2026-04-05T03:04:46.000Z","size":19,"stargazers_count":48,"open_issues_count":0,"forks_count":2,"subscribers_count":3,"default_branch":"main","last_synced_at":"2026-04-05T05:09:27.007Z","etag":null,"topics":["awesome-list","dexterous-manipulation","manipulation","robotics"],"latest_commit_sha":null,"homepage":"","language":null,"has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/kingchou007.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2024-07-30T09:50:19.000Z","updated_at":"2026-04-05T03:04:49.000Z","dependencies_parsed_at":"2024-08-26T05:50:28.682Z","dependency_job_id":"ab596d6a-8f1e-403a-b942-c92e8327e3bb","html_url":"https://github.com/kingchou007/Dexterous-Manipulation","commit_stats":null,"previous_names":["kingchou007/awesome-dexterous-hand","kingchou007/dexterous-manipulation"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/kingchou007/Dexterous-Manipulation","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/kingchou007%2FDexterous-Manipulation","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/kingchou007%2FDexterous-Manipulation/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/kingchou007%2FDexterous-Manipulation/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/kingchou007%2FDexterous-Manipulation/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/kingchou007","download_url":"https://codeload.github.com/kingchou007/Dexterous-Manipulation/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/kingchou007%2FDexterous-Manipulation/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":31573788,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-04-08T14:31:17.711Z","status":"ssl_error","status_checked_at":"2026-04-08T14:31:17.202Z","response_time":54,"last_error":"SSL_connect returned=1 errno=0 peeraddr=140.82.121.5:443 state=error: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["awesome-list","dexterous-manipulation","manipulation","robotics"],"created_at":"2026-03-25T10:00:27.360Z","updated_at":"2026-04-08T21:00:57.268Z","avatar_url":"https://github.com/kingchou007.png","language":null,"funding_links":[],"categories":["Related Awesome Lists","Other Lists"],"sub_categories":["robot_descriptions","TeX Lists"],"readme":"# Dexterous-Manipulation\n\nOrganize the paper about dexterous manipulation by my reading.\n\n## Content\n\n- [Dexterous-Manipulation](#dexterous-manipulation)\n  - [Content](#content)\n  - [Teleoperation](#teleoperation)\n  - [Reinforcement Learning](#reinforcement-learning)\n  - [Learning From Human](#learning-from-human)\n  - [Sim2Real](#sim2real)\n  - [Hardware System](#hardware-system)\n  - [Tactile Sensing](#tactile-sensing)\n  - [VLA](#vla)\n  - [Compliance and Force Control](#compliance-and-force-control)\n  - [Cool Idea](#cool-idea)\n\n## Teleoperation\n\n* (2025) Liu, Jason Jingzhou, et al. Factr: Force-attending curriculum training for contact-rich policy learning. - [arXiv](https://arxiv.org/abs/2502.17432)\n* (2024) Wang, C., Shi, H., Wang, W., Zhang, R., Fei-Fei, L., \u0026 Liu, C. K. Dexcap: Scalable and portable mocap data collection system for dexterous manipulation. - [arXiv](https://arxiv.org/abs/2403.07788), [Website](https://dex-cap.github.io/)\n* (2023) Qin, Y., Yang, W., Huang, B., Van Wyk, K., Su, H., Wang, X., ... \u0026 Fox, D. Anyteleop: A general vision-based dexterous robot arm-hand teleoperation system. - [arXiv](https://arxiv.org/abs/2307.04577), [Website](https://yzqin.github.io/anyteleop/)\n* (2023) Arunachalam, S. P., Güzey, I., Chintala, S., \u0026 Pinto, L. Holo-dex: Teaching dexterity with immersive mixed reality. - [arXiv](https://arxiv.org/abs/2210.06463), [Website](https://holo-dex.github.io/)\n* (2020) Handa, A., Van Wyk, K., Yang, W., Liang, J., Chao, Y. W., Wan, Q., ... \u0026 Fox, D. Dexpilot: Vision-based teleoperation of dexterous robotic hand-arm system. - [arXiv](https://arxiv.org/abs/1910.03135), [Website](https://sites.google.com/view/dex-pilot)\n\n## Reinforcement Learning\n\n* (2024) Ankile, L., Simeonov, A., Shenfeld, I., Torne, M., \u0026 Agrawal, P. From Imitation to Refinement--Residual RL for Precise Assembly. - [arXiv](https://arxiv.org/abs/2407.16677)\n\n## Learning From Human\n\n* (2025) Qiu, R. Z., Yang, S., Cheng, X., Chawla, C., Li, J., He, T., ... \u0026 Wang, X. Humanoid Policy~ Human Policy. - [arXiv](https://arxiv.org/abs/2503.13441), [Website](https://human-as-robot.github.io/)\n* (2024) Kareer, S., Patel, D., Punamiya, R., Mathur, P., Cheng, S., Wang, C., ... \u0026 Xu, D. Egomimic: Scaling imitation learning via egocentric video. - [arXiv](https://arxiv.org/abs/2410.24221), [Website](https://egomimic.github.io/)\n* (2022) Shaw, K., Bahl, S., \u0026 Pathak, D. Videodex: Learning dexterity from internet videos. - [arXiv](https://arxiv.org/abs/2212.04498), [Website](https://video-dex.github.io)\n\n## Sim2Real\n\n* (2025) Maddukuri, A., Jiang, Z., Chen, L. Y., Nasiriany, S., Xie, Y., Fang, Y., ... \u0026 Zhu, Y. Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic Manipulation. - [arXiv](https://co-training.github.io/resources/paper.pdf), [Website](https://co-training.github.io/)\n* (2025) Lin, T., Sachdev, K., Fan, L., Malik, J., \u0026 Zhu, Y. Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoids. - [arXiv](https://arxiv.org/abs/2502.20396)\n* (2023) Huang, B., Chen, Y., Wang, T., Qin, Y., Yang, Y., Atanasov, N., \u0026 Wang, X. Dynamic handover: Throw and catch with bimanual hands. - [arXiv](https://arxiv.org/pdf/2309.05655), [Website](https://binghao-huang.github.io/dynamic_handover/)\n* (2023) Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments. - [arXiv](https://arxiv.org/abs/2301.04195), [Website](https://isaac-orbit.github.io/)\n* (2023) Chen, T., Tippur, M., Wu, S., Kumar, V., Adelson, E., \u0026 Agrawal, P. Visual dexterity: In-hand reorientation of novel and complex object shapes. - [arXiv](https://arxiv.org/abs/2211.11744)\n\n## Hardware System\n\n* (2024) Chi, C., Xu, Z., Pan, C., Cousineau, E., Burchfiel, B., Feng, S., Tedrake, R., \u0026 Song, S. Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots. - [arXiv](https://arxiv.org/abs/2402.10329), [Website](https://umi-gripper.github.io)\n* (2024) Romero, B., Fang, H. S., Agrawal, P., \u0026 Adelson, E. Eyesight hand: Design of a fully-actuated dexterous robot hand with integrated vision-based tactile sensors and compliant actuation. - [arXiv](https://arxiv.org/abs/2410.06440)\n* (2023) Mannam, P., Shaw, K., Bauer, D., Oh, J., Pathak, D., \u0026 Pollard, N. Designing anthropomorphic soft hands through interaction. - [arXiv](https://arxiv.org/pdf/2306.04784)\n* (2023) Shaw, K., Agarwal, A., \u0026 Pathak, D. Leap hand: Low-cost, efficient, and anthropomorphic hand for robot learning. - [arXiv](https://arxiv.org/abs/2309.06440)\n* (2021) Kim, U., Jung, D., Jeong, H., Park, J., Jung, H. M., Cheong, J., ... \u0026 Park, C. Integrated linkage-driven dexterous anthropomorphic robotic hand. - [Paper](https://www.nature.com/articles/s41467-021-27261-0.pdf)\n* (2012) Bridgwater, L. B., Ihrke, C. A., Diftler, M. A., Abdallah, M. E., Radford, N. A., Rogers, J. M., ... \u0026 Linn, D. M. The robonaut 2 hand-designed to do work with tools. - [Paper](https://ieeexplore.ieee.org/abstract/document/6224772/)\n\n## Tactile Sensing\n\n* (2025) Li, J., Wu, T., Zhang, J., Chen, Z., Jin, H., Wu, M., ... \u0026 Dong, H. Adaptive Visuo-Tactile Fusion with Predictive Force Attention for Dexterous Manipulation. - [arXiv](https://arxiv.org/abs/2505.13982), [Website](https://adaptac-dex.github.io/)\n* (2025) Wu, Q., Wang, H., Zhou, J., Xiong, X., \u0026 Lou, Y. TARS: Tactile Affordance in Robot Synesthesia for Dexterous Manipulation. - [Paper](https://ieeexplore.ieee.org/abstract/document/10766612)\n* (2024) Wu, T., Li, J., Zhang, J., Wu, M., \u0026 Dong, H. Canonical representation and force-based pretraining of 3d tactile for dexterous visuo-tactile policy learning. - [arXiv](https://arxiv.org/abs/2409.17549)\n* (2021) Dong, S., Jha, D. K., Romeres, D., Kim, S., Nikovski, D., \u0026 Rodriguez, A. Tactile-rl for insertion: Generalization to objects of unknown geometry. - [arXiv](https://arxiv.org/pdf/2104.01167)\n\n## VLA\n\n* (2024) Kim, M. J., Pertsch, K., Karamcheti, S., Xiao, T., Balakrishna, A., Nair, S., ... \u0026 Finn, C. Openvla: An open-source vision-language-action model. - [arXiv](https://arxiv.org/abs/2406.09246), [Website](https://openvla.github.io/)\n\n## Compliance and Force Control\n\n* (2026) Shi, H., Hu, S., Hou, Y., Wang, W., Liu, K., \u0026 Song, S. Minimalist Compliance Control. - [arXiv](https://arxiv.org/abs/2603.00913), [Website](https://minimalist-compliance-control.github.io/)\n* (2025) Margolis, G. B., Wang, M., Fey, N., \u0026 Agrawal, P. SoftMimic: Learning Compliant Whole-body Control from Examples. - [arXiv](https://arxiv.org/abs/2510.17792), [Website](https://gmargo11.github.io/softmimic/)\n* (2025) Zhi, P., Li, P., Yin, J., Jia, B., \u0026 Huang, S. Learning a Unified Policy for Position and Force Control in Legged Loco-Manipulation. - [arXiv](https://arxiv.org/abs/2505.20829), [Website](https://unified-force.github.io/)\n* (2024) Hou, Y., Liu, Z., Chi, C., Cousineau, E., Kuppuswamy, N., Feng, S., Burchfiel, B., \u0026 Song, S. Adaptive Compliance Policy: Learning Approximate Compliance for Diffusion Guided Control. - [arXiv](https://arxiv.org/abs/2410.09309), [Website](https://adaptive-compliance.github.io/)\n\n## Cool Idea\n\n* (2023) Zakka, K., Wu, P., Smith, L., Gileadi, N., Howell, T., Peng, X. B., ... \u0026 Abbeel, P. Robopianist: Dexterous piano playing with deep reinforcement learning. - [arXiv](https://arxiv.org/abs/2304.04150), [Code](https://kzakka.com/robopianist/), [Website](https://github.com/google-research/robopianist)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkingchou007%2FDexterous-Manipulation","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fkingchou007%2FDexterous-Manipulation","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkingchou007%2FDexterous-Manipulation/lists"}