{"id":"https://openalex.org/W7140228196","doi":"https://doi.org/10.48550/arxiv.2603.22264","title":"UniDex: A Robot Foundation Suite for Universal Dexterous Hand Control from Egocentric Human Videos","display_name":"UniDex: A Robot Foundation Suite for Universal Dexterous Hand Control from Egocentric Human Videos","publication_year":2026,"publication_date":"2026-03-23","ids":{"openalex":"https://openalex.org/W7140228196","doi":"https://doi.org/10.48550/arxiv.2603.22264"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.22264","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.22264","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.2603.22264","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Zhang, Gu","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Zhang, Gu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Xu, Qicheng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Qicheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Zhang, Haozhe","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Haozhe","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Ma, Jianhan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ma, Jianhan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"He, Long","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"He, Long","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Bao, Yiming","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bao, Yiming","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Ping, Zeyu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ping, Zeyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Yuan, Zhecheng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuan, Zhecheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Lu, Chenhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lu, Chenhao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Yuan, Chengbo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuan, Chengbo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Liang, Tianhai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liang, Tianhai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Tian, Xiaoyu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tian, Xiaoyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Shao, Maanping","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shao, Maanping","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Zhang, Feihong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Feihong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Ding, Mingyu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ding, Mingyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Gao, Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gao, Yang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Zhao, Hao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Hao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Zhao, Hang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Hang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Xu, Huazhe","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Huazhe","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":19,"corresponding_author_ids":[],"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":0.6132000088691711,"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":0.6132000088691711,"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":0.164900004863739,"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"}},{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.04830000177025795,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/suite","display_name":"Suite","score":0.6517999768257141},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5974000096321106},{"id":"https://openalex.org/keywords/retargeting","display_name":"Retargeting","score":0.5949000120162964},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5916000008583069},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.5706999897956848},{"id":"https://openalex.org/keywords/programming-by-demonstration","display_name":"Programming by demonstration","score":0.5171999931335449},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.487199991941452},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.45100000500679016},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.43540000915527344}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7954000234603882},{"id":"https://openalex.org/C79581498","wikidata":"https://www.wikidata.org/wiki/Q1367530","display_name":"Suite","level":2,"score":0.6517999768257141},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6477000117301941},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5974000096321106},{"id":"https://openalex.org/C2780575108","wikidata":"https://www.wikidata.org/wiki/Q7316652","display_name":"Retargeting","level":2,"score":0.5949000120162964},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5916000008583069},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.5706999897956848},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.5171999931335449},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5052000284194946},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.487199991941452},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.45100000500679016},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.43540000915527344},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4180999994277954},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.40709999203681946},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3824999928474426},{"id":"https://openalex.org/C111030470","wikidata":"https://www.wikidata.org/wiki/Q1430460","display_name":"Curse of dimensionality","level":2,"score":0.3684999942779541},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.35040000081062317},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.3499999940395355},{"id":"https://openalex.org/C2780966255","wikidata":"https://www.wikidata.org/wiki/Q5474306","display_name":"Foundation (evidence)","level":2,"score":0.33000001311302185},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.3084000051021576},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.30480000376701355},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.28630000352859497},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.2838999927043915},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2669000029563904},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.26660001277923584},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.2506999969482422}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.22264","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.22264","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.2603.22264","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.22264","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":[{"id":"https://metadata.un.org/sdg/16","score":0.5290907621383667,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Dexterous":[0],"manipulation":[1],"remains":[2],"challenging":[3,196],"due":[4],"to":[5,89,109,131,183],"the":[6,13,19,118,140],"cost":[7],"of":[8,15,22],"collecting":[9],"real-robot":[10],"teleoperation":[11],"data,":[12],"heterogeneity":[14],"hand":[16,52,175],"embodiments,":[17],"and":[18,43,98,112,153,173,177,209,223,230],"high":[20],"dimensionality":[21],"control.":[23,53],"We":[24],"present":[25],"UniDex,":[26],"a":[27,33,38,44,58,85,122,146,163,215,233],"robot":[28,193],"foundation":[29,235],"suite":[30,236],"that":[31,126,168,188],"couples":[32],"large-scale":[34],"robot-centric":[35,59],"dataset":[36,60],"with":[37,105,155],"unified":[39,123],"vision-language-action":[40],"(VLA)":[41],"policy":[42,149],"practical":[45],"human-data":[46],"capture":[47,166],"setup":[48,167],"for":[49,237],"universal":[50,238],"dexterous":[51,66,239],"First,":[54],"we":[55,83,99,116,143,160],"construct":[56],"UniDex-Dataset,":[57,228],"over":[61],"50K":[62],"trajectories":[63,92,182],"across":[64,199],"eight":[65],"hands":[67,107],"(6--24":[68],"DoFs),":[69],"derived":[70],"from":[71],"egocentric":[72],"human":[73,78,106,174],"video":[74],"datasets.":[75],"To":[76],"transform":[77],"data":[79,186],"into":[80,180],"robot-executable":[81,181],"trajectories,":[82],"employ":[84],"human-in-the-loop":[86],"retargeting":[87],"procedure":[88],"align":[90],"fingertip":[91],"while":[93,218],"preserving":[94],"plausible":[95],"hand-object":[96],"contacts,":[97],"operate":[100],"on":[101,151,191],"explicit":[102],"3D":[103,147],"pointclouds":[104],"masked":[108],"narrow":[110],"kinematic":[111],"visual":[113],"gaps.":[114],"Second,":[115],"introduce":[117],"Function-Actuator-Aligned":[119],"Space":[120],"(FAAS),":[121],"action":[124,141],"space":[125],"maps":[127],"functionally":[128],"similar":[129],"actuators":[130],"shared":[132],"coordinates,":[133],"enabling":[134],"cross-hand":[135,225],"transfer.":[136],"Leveraging":[137],"FAAS":[138],"as":[139],"parameterization,":[142],"train":[144],"UniDex-VLA,":[145,229],"VLA":[148,212],"pretrained":[150],"UniDex-Dataset":[152],"finetuned":[154],"task":[156,207],"demonstrations.":[157,194],"In":[158],"addition,":[159],"build":[161],"UniDex-Cap,":[162],"simple":[164],"portable":[165],"records":[169],"synchronized":[170],"RGB-D":[171],"streams":[172],"poses":[176],"converts":[178],"them":[179],"enable":[184],"human-robot":[185],"co-training":[187],"reduces":[189],"reliance":[190],"costly":[192],"On":[195],"tool-use":[197],"tasks":[198],"two":[200],"different":[201],"hands,":[202],"UniDex-VLA":[203],"achieves":[204],"81%":[205],"average":[206],"progress":[208],"outperforms":[210],"prior":[211],"baselines":[213],"by":[214],"large":[216],"margin,":[217],"exhibiting":[219],"strong":[220],"spatial,":[221],"object,":[222],"zero-shot":[224],"generalization.":[226],"Together,":[227],"UniDex-Cap":[231],"provide":[232],"scalable":[234],"manipulation.":[240]},"counts_by_year":[],"updated_date":"2026-04-25T08:17:42.794288","created_date":"2026-03-25T00:00:00"}