{"id":"https://openalex.org/W7135216917","doi":"https://doi.org/10.48550/arxiv.2603.12260","title":"HumDex: Humanoid Dexterous Manipulation Made Easy","display_name":"HumDex: Humanoid Dexterous Manipulation Made Easy","publication_year":2026,"publication_date":"2026-03-12","ids":{"openalex":"https://openalex.org/W7135216917","doi":"https://doi.org/10.48550/arxiv.2603.12260"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.12260","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.12260","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.12260","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100573304","display_name":"Liang Heng","orcid":"https://orcid.org/0009-0002-8205-6747"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Heng, Liang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054096627","display_name":"Yihe Tang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tang, Yihe","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007706005","display_name":"Jiajun Xu","orcid":"https://orcid.org/0000-0002-9517-1042"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Jiajun","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113325593","display_name":"Henghui Bao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bao, Henghui","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129014694","display_name":"Di Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Di","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5129061273","display_name":"Yue Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Yue","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100573304"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.4189999997615814,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.4189999997615814,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.16200000047683716,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.12389999628067017,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.86080002784729},{"id":"https://openalex.org/keywords/retargeting","display_name":"Retargeting","score":0.7024999856948853},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6704999804496765},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5177000164985657},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.51419997215271},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.4260999858379364},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4129999876022339},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.41190001368522644},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.3856000006198883}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.86080002784729},{"id":"https://openalex.org/C2780575108","wikidata":"https://www.wikidata.org/wiki/Q7316652","display_name":"Retargeting","level":2,"score":0.7024999856948853},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6704999804496765},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6567000150680542},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6022999882698059},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5720000267028809},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5177000164985657},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.51419997215271},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.4260999858379364},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4187000095844269},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4129999876022339},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.41190001368522644},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.3856000006198883},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.38420000672340393},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.3698999881744385},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.3598000109195709},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.3569999933242798},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3443000018596649},{"id":"https://openalex.org/C133462117","wikidata":"https://www.wikidata.org/wiki/Q4929239","display_name":"Data collection","level":2,"score":0.3409000039100647},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3366999924182892},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.3212999999523163},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3197999894618988},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.30880001187324524},{"id":"https://openalex.org/C95020103","wikidata":"https://www.wikidata.org/wiki/Q1813492","display_name":"Match moving","level":3,"score":0.30390000343322754},{"id":"https://openalex.org/C163985040","wikidata":"https://www.wikidata.org/wiki/Q1172399","display_name":"Data acquisition","level":2,"score":0.29350000619888306},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.27320000529289246},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2590000033378601},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.25850000977516174}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.12260","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.12260","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.12260","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.12260","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"display_name":"Decent work and economic growth","score":0.411940336227417,"id":"https://metadata.un.org/sdg/8"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"investigates":[2],"humanoid":[3,52],"whole-body":[4,37,53],"dexterous":[5,54,77],"manipulation,":[6],"where":[7],"the":[8,64,139],"efficient":[9,102],"collection":[10,103],"of":[11,104],"high-quality":[12],"demonstration":[13],"data":[14,126,136,161],"remains":[15],"a":[16,46,83,114],"central":[17],"bottleneck.":[18],"Existing":[19],"teleoperation":[20,48],"systems":[21],"often":[22],"suffer":[23],"from":[24],"limited":[25],"portability,":[26],"occlusion,":[27],"or":[28],"insufficient":[29],"precision,":[30],"which":[31],"hinders":[32],"their":[33],"applicability":[34],"to":[35,62,74,127,137,153],"complex":[36],"tasks.":[38],"To":[39],"address":[40,63],"these":[41],"challenges,":[42],"we":[43,80,112],"introduce":[44,82],"HumDex,":[45],"portable":[47],"system":[49,57,166],"designed":[50],"for":[51,142],"manipulation.":[55],"Our":[56],"leverages":[58],"IMU-based":[59],"motion":[60,106,125],"tracking":[61,70],"portability-precision":[65],"trade-off,":[66],"enabling":[67],"accurate":[68],"full-body":[69],"while":[71],"remaining":[72],"easy":[73],"deploy.":[75],"For":[76],"hand":[78,92],"control,":[79],"further":[81],"learning-based":[84],"retargeting":[85],"method":[86],"that":[87,119,147],"generates":[88],"smooth":[89],"and":[90,131,157,170],"natural":[91],"motions":[93],"without":[94],"manual":[95],"parameter":[96],"tuning.":[97],"Beyond":[98],"teleoperation,":[99],"HumDex":[100],"enables":[101],"human":[105,124],"data.":[107],"Building":[108],"on":[109,122,134],"this":[110,148],"capability,":[111],"propose":[113],"two-stage":[115],"imitation":[116],"learning":[117],"framework":[118],"first":[120],"pre-trains":[121],"diverse":[123],"learn":[128],"generalizable":[129],"priors,":[130],"then":[132],"fine-tunes":[133],"robot":[135],"bridge":[138],"embodiment":[140],"gap":[141],"precise":[143],"execution.":[144],"We":[145],"demonstrate":[146],"approach":[149],"significantly":[150],"improves":[151],"generalization":[152],"new":[154],"configurations,":[155],"objects,":[156],"backgrounds":[158],"with":[159],"minimal":[160],"acquisition":[162],"costs.":[163],"The":[164],"entire":[165],"is":[167],"fully":[168],"reproducible":[169],"open-sourced":[171],"at":[172],"https://github.com/physical-superintelligence-lab/humdex.":[173]},"counts_by_year":[],"updated_date":"2026-03-17T06:59:57.516163","created_date":"2026-03-14T00:00:00"}
