{"ID":2824011,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2512.24210","arxiv_id":"2512.24210","title":"GR-Dexter Technical Report","abstract":"Vision-language-action (VLA) models have enabled language-conditioned, long-horizon robot manipulation, but most existing systems are limited to grippers. Scaling VLA policies to bimanual robots with high degree-of-freedom (DoF) dexterous hands remains challenging due to the expanded action space, frequent hand-object occlusions, and the cost of collecting real-robot data. We present GR-Dexter, a holistic hardware-model-data framework for VLA-based generalist manipulation on a bimanual dexterous-hand robot. Our approach combines the design of a compact 21-DoF robotic hand, an intuitive bimanual teleoperation system for real-robot data collection, and a training recipe that leverages teleoperated robot trajectories together with large-scale vision-language and carefully curated cross-embodiment datasets. Across real-world evaluations spanning long-horizon everyday manipulation and generalizable pick-and-place, GR-Dexter achieves strong in-domain performance and improved robustness to unseen objects and unseen instructions. We hope GR-Dexter serves as a practical step toward generalist dexterous-hand robotic manipulation.","short_abstract":"Vision-language-action (VLA) models have enabled language-conditioned, long-horizon robot manipulation, but most existing systems are limited to grippers. Scaling VLA policies to bimanual robots with high degree-of-freedom (DoF) dexterous hands remains challenging due to the expanded action space, frequent hand-object...","url_abs":"https://arxiv.org/abs/2512.24210","url_pdf":"https://arxiv.org/pdf/2512.24210v2","authors":"[\"Ruoshi Wen\",\"Guangzeng Chen\",\"Zhongren Cui\",\"Min Du\",\"Yang Gou\",\"Zhigang Han\",\"Liqun Huang\",\"Mingyu Lei\",\"Yunfei Li\",\"Zhuohang Li\",\"Wenlei Liu\",\"Yuxiao Liu\",\"Xiao Ma\",\"Hao Niu\",\"Yutao Ouyang\",\"Zeyu Ren\",\"Haixin Shi\",\"Wei Xu\",\"Haoxiang Zhang\",\"Jiajun Zhang\",\"Xiao Zhang\",\"Liwei Zheng\",\"Weiheng Zhong\",\"Yifei Zhou\",\"Zhengming Zhu\",\"Hang Li\"]","published":"2025-12-30T13:22:16Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}