{"id":"https://openalex.org/W7163666520","doi":"https://doi.org/10.48550/arxiv.2606.06033","title":"RealDexUMI: A Wearable Universal Manipulation Interface for Dexterous Robot Learning","display_name":"RealDexUMI: A Wearable Universal Manipulation Interface for Dexterous Robot Learning","publication_year":2026,"publication_date":"2026-06-04","ids":{"openalex":"https://openalex.org/W7163666520","doi":"https://doi.org/10.48550/arxiv.2606.06033"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.06033","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.06033","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.2606.06033","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5137941537","display_name":"Chaoyi Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Chaoyi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103192478","display_name":"Yixuan Jiang","orcid":"https://orcid.org/0000-0002-9833-7984"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiang, Yixuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108307679","display_name":"Jiahui Huan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huan, Jiahui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101542257","display_name":"Yuhui Fu","orcid":"https://orcid.org/0000-0002-7487-4857"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fu, Yuhui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137962793","display_name":"Haoyu Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Haoyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137951913","display_name":"Weitian Yuan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuan, Weitian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137990486","display_name":"Jiayi Yu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Jiayi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137920416","display_name":"Wanpeng Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Wanpeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137929537","display_name":"Haoqi Yuan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuan, Haoqi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5137984838","display_name":"Zongqing Lu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lu, Zongqing","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":0.6606000065803528,"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":0.6606000065803528,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.07180000096559525,"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"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.060499999672174454,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8335999846458435},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.5722000002861023},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.550000011920929},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5015000104904175},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.49880000948905945},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.4618000090122223},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.4336000084877014},{"id":"https://openalex.org/keywords/wired-glove","display_name":"Wired glove","score":0.4244999885559082},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.4129999876022339}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8335999846458435},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6065999865531921},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5730000138282776},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.5722000002861023},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.550000011920929},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5015000104904175},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.49880000948905945},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4779999852180481},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.4618000090122223},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.4336000084877014},{"id":"https://openalex.org/C107953548","wikidata":"https://www.wikidata.org/wiki/Q1172433","display_name":"Wired glove","level":3,"score":0.4244999885559082},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.4129999876022339},{"id":"https://openalex.org/C55457006","wikidata":"https://www.wikidata.org/wiki/Q3647098","display_name":"Kinesthetic learning","level":2,"score":0.39750000834465027},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3871000111103058},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3700000047683716},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.3467999994754791},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.33640000224113464},{"id":"https://openalex.org/C54290928","wikidata":"https://www.wikidata.org/wiki/Q4845080","display_name":"Wearable technology","level":3,"score":0.30640000104904175},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2973000109195709},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29649999737739563},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2953999936580658},{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.2897999882698059},{"id":"https://openalex.org/C2780575108","wikidata":"https://www.wikidata.org/wiki/Q7316652","display_name":"Retargeting","level":2,"score":0.28679999709129333},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.28349998593330383},{"id":"https://openalex.org/C89505385","wikidata":"https://www.wikidata.org/wiki/Q47146","display_name":"User interface","level":2,"score":0.28110000491142273},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.28049999475479126},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.27619999647140503},{"id":"https://openalex.org/C557691694","wikidata":"https://www.wikidata.org/wiki/Q185091","display_name":"Remote control","level":2,"score":0.2660999894142151},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.2526000142097473}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.06033","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.06033","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.2606.06033","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.06033","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":{"Learning":[0],"dexterous":[1,43,58,65],"manipulation":[2,52],"requires":[3],"demonstrations":[4],"that":[5,31,61],"preserve":[6],"fine":[7],"hand-object":[8],"interactions":[9],"while":[10],"remaining":[11],"executable":[12],"at":[13],"deployment.":[14,117],"Existing":[15],"pipelines":[16],"either":[17],"lose":[18],"deployable":[19],"dexterity":[20],"through":[21],"retargeting":[22],"or":[23,26],"embodiment":[24],"conversion,":[25],"rely":[27],"on":[28,131],"robot-specific":[29],"teleoperation":[30,76],"is":[32],"costly":[33],"to":[34,82,142],"scale":[35],"and":[36,69,90,97,111,116,126,146],"often":[37],"lacks":[38],"intuitive,":[39,89],"contact-aware":[40],"control":[41],"for":[42],"data":[44,133],"collection.":[45],"We":[46],"present":[47],"RealDexUMI,":[48],"a":[49,56,63],"wearable":[50],"universal":[51],"interface":[53],"built":[54],"around":[55],"shared":[57,95],"end-effector":[59,102],"module":[60],"integrates":[62],"lightweight":[64],"hand,":[66],"in-hand":[67,106],"vision,":[68],"fingertip":[70],"tactile":[71,108],"sensing.":[72],"A":[73],"palm-side":[74],"isomorphic":[75],"glove":[77],"maps":[78],"human":[79],"finger":[80],"inputs":[81],"robot-hand":[83],"joint":[84],"commands,":[85],"enabling":[86],"real-time,":[87],"retargeting-free,":[88],"precise":[91],"hand":[92,96,112],"control.":[93],"The":[94],"sensing":[98],"modules":[99],"yield":[100],"zero-gap":[101],"data,":[103],"with":[104],"matched":[105],"observations,":[107],"signals,":[109],"contacts,":[110],"actions":[113],"between":[114],"collection":[115],"Across":[118],"eight":[119],"real-robot":[120],"tasks":[121],"spanning":[122],"fine-grained,":[123],"contact-rich,":[124],"long-horizon,":[125],"bimanual":[127],"manipulation,":[128],"policies":[129],"trained":[130],"RealDexUMI":[132],"achieve":[134],"an":[135],"average":[136],"success":[137],"rate":[138],"of":[139],"88.75%,":[140],"generalize":[141],"unseen":[143],"initial":[144],"poses,":[145],"transfer":[147],"across":[148],"three":[149],"embodiments.":[150],"Website:":[151],"https://research.beingbeyond.com/realdexumi":[152]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-06T00:00:00"}
