{"ID":3083804,"CreatedAt":"2026-06-05T06:46:15.197025399Z","UpdatedAt":"2026-06-07T03:05:32.813677833Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2606.06033","arxiv_id":"2606.06033","title":"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: https://research.beingbeyond.com/realdexumi","short_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...","url_abs":"https://arxiv.org/abs/2606.06033","url_pdf":"https://arxiv.org/pdf/2606.06033v1","authors":"[\"Chaoyi Xu\",\"Yixuan Jiang\",\"Jiahui Huan\",\"Yuhui Fu\",\"Haoyu Zhou\",\"Weitian Yuan\",\"Jiayi Yu\",\"Wanpeng Zhang\",\"Haoqi Yuan\",\"Zongqing Lu\"]","published":"2026-06-04T11:28:23Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","project_urls":"[\"https://research.beingbeyond.com/realdexumi\"]","has_code":false}