DexTeleop-0: Force-Aware Bimanual Dexterous Teleoperation with Ego-Centric Perception towards Shared Autonomy
Published in arXiv preprint arXiv:2606.23431, 2026
Teleoperation systems tend to break down on contact-rich tasks: the embodiment gap blocks accurate kinematic mapping, and tactile and force feedback are usually missing. DexTeleop-0 adds a real-time optimization loop that estimates contact points and uses a tactile-enabled fingertip force-sensing profile to compute localized corrections through the operational space Jacobian, turning coarse human tracking intent into force-compliant robot commands. In both simulation and real hardware it improves success rate and execution efficiency on robust grasping, disturbance-resilient manipulation, and complex dexterous tasks.
Preprint: arXiv:2606.23431
Recommended citation: Haichao Liu, Yuyao Jiang, Hyunsun Park, Yuanjiang Xue, Ziwei Wang. (2026). "DexTeleop-0: Force-Aware Bimanual Dexterous Teleoperation with Ego-Centric Perception towards Shared Autonomy." arXiv preprint arXiv:2606.23431.
Download Paper