{"id":"https://openalex.org/W7155406596","doi":"https://doi.org/10.48550/arxiv.2604.20689","title":"FingerEye: Learning Dexterous Manipulation with Continuous Vision-Tactile Sensing","display_name":"FingerEye: Learning Dexterous Manipulation with Continuous Vision-Tactile Sensing","publication_year":2026,"publication_date":"2026-04-22","ids":{"openalex":"https://openalex.org/W7155406596","doi":"https://doi.org/10.48550/arxiv.2604.20689"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.20689","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.20689","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":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.20689","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5134365574","display_name":"Zhixuan Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Zhixuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134439226","display_name":"Yichen Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Yichen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037770882","display_name":"Xuanye Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Xuanye","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134427169","display_name":"Tianyu Qiu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qiu, Tianyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5134411878","display_name":"Lin Shao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shao, Lin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"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":0.757099986076355,"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":0.757099986076355,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.0868000015616417,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10914","display_name":"Tactile and Sensory Interactions","score":0.05429999902844429,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5199999809265137},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.5030999779701233},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.4659999907016754},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.43939998745918274},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4334999918937683},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.41269999742507935},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.39070001244544983},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.38339999318122864},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.376800000667572}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6119999885559082},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6065000295639038},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6025000214576721},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5199999809265137},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.5030999779701233},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.4659999907016754},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.43939998745918274},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4334999918937683},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4165000021457672},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.41269999742507935},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.39070001244544983},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.38339999318122864},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.376800000667572},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.37059998512268066},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.36660000681877136},{"id":"https://openalex.org/C2780233690","wikidata":"https://www.wikidata.org/wiki/Q535347","display_name":"Transparency (behavior)","level":2,"score":0.3458999991416931},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.34299999475479126},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.3167000114917755},{"id":"https://openalex.org/C2776010242","wikidata":"https://www.wikidata.org/wiki/Q4677575","display_name":"Active perception","level":3,"score":0.3149000108242035},{"id":"https://openalex.org/C142812007","wikidata":"https://www.wikidata.org/wiki/Q6675553","display_name":"Looming","level":2,"score":0.3084999918937683},{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.2809000015258789},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2768000066280365},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2687000036239624},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.26570001244544983},{"id":"https://openalex.org/C111370547","wikidata":"https://www.wikidata.org/wiki/Q7451120","display_name":"Sensory cue","level":2,"score":0.2563999891281128},{"id":"https://openalex.org/C178253425","wikidata":"https://www.wikidata.org/wiki/Q162668","display_name":"Visual perception","level":3,"score":0.25609999895095825},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.2540999948978424},{"id":"https://openalex.org/C3017819093","wikidata":"https://www.wikidata.org/wiki/Q328835","display_name":"Tactile perception","level":3,"score":0.2533999979496002}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.20689","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.20689","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":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.20689","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.20689","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":"Preprint"},"sustainable_development_goals":[],"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],"robotic":[1,27],"manipulation":[2],"requires":[3],"perception":[4,51],"that":[5,25],"remains":[6],"informative":[7],"from":[8],"pre-contact":[9],"approach":[10,71],"to":[11,49,122],"contact":[12,47,87],"initiation":[13],"and":[14,22,54,66,72,101,113,126,153],"post-contact":[15],"control.":[16],"We":[17],"introduce":[18],"FingerEye,":[19],"a":[20,45,84],"sensing":[21,37],"learning":[23,92,108],"framework":[24],"strengthens":[26],"dexterity":[28],"through":[29],"continuous":[30],"vision-tactile":[31],"feedback":[32],"throughout":[33],"interaction.":[34],"On":[35,90],"the":[36,59,80,91,154],"side,":[38,93],"FingerEye":[39,111,115,137],"integrates":[40],"binocular":[41],"RGB":[42],"cameras":[43,61],"with":[44,109],"compliant":[46,81],"interface":[48],"support":[50],"both":[52,151],"before":[53],"after":[55],"contact.":[56],"Before":[57],"contact,":[58,76],"fingertip":[60,130],"provide":[62],"close-range":[63],"visual":[64],"cues":[65],"implicit":[67],"stereo":[68],"for":[69,86,98,107],"precise":[70],"object":[73],"localization.":[74],"After":[75],"marker-tracked":[77],"deformation":[78],"of":[79],"ring":[82],"provides":[83],"proxy":[85],"wrench":[88],"sensing.":[89],"we":[94],"build":[95],"real-and-sim":[96],"infrastructure":[97],"data":[99],"collection":[100],"evaluation,":[102],"systematically":[103],"study":[104],"policy-interface":[105],"designs":[106],"multiple":[110],"sensors,":[112],"develop":[114],"Policy,":[116],"which":[117],"applies":[118],"group-structured":[119],"modality":[120,124],"fusion":[121],"reduce":[123],"shortcuts":[125],"better":[127],"exploit":[128],"distributed":[129],"feedback.":[131],"Across":[132],"seven":[133],"contact-sensitive":[134],"task":[135],"settings,":[136],"improves":[138],"wrist-only":[139],"policy":[140],"by":[141],"over":[142],"30":[143],"percentage":[144],"points":[145],"in":[146,150],"mean":[147],"success":[148],"rate":[149],"simulation":[152],"real":[155],"world.":[156]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-04-24T00:00:00"}
