{"id":"https://openalex.org/W7168140577","doi":"https://doi.org/10.48550/arxiv.2607.09190","title":"TactiDex: A Real-World Tactile-Guided Benchmark for Human-Like Dexterous Manipulation","display_name":"TactiDex: A Real-World Tactile-Guided Benchmark for Human-Like Dexterous Manipulation","publication_year":2026,"publication_date":"2026-07-10","ids":{"openalex":"https://openalex.org/W7168140577","doi":"https://doi.org/10.48550/arxiv.2607.09190"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2607.09190","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.09190","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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.2607.09190","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5130981548","display_name":"suting ni","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ni, Suting","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101922830","display_name":"Hanbing Zhang","orcid":"https://orcid.org/0000-0002-6100-8108"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Hanbing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140530618","display_name":"Zhenyu Wei","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wei, Zhenyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140533940","display_name":"Guo Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Guo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022765338","display_name":"\u5f20\u9a70\u7487","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Chixuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100902783","display_name":"Y Shi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shi, Ye","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5140541802","display_name":"Jingya Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Jingya","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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.30820000171661377,"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"}},"topics":[{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.30820000171661377,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.19509999454021454,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.09529999643564224,"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/kinematics","display_name":"Kinematics","score":0.7342000007629395},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.5756999850273132},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.487199991941452},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4514999985694885},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4422000050544739},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4041000008583069},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.3747999966144562}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7342000007629395},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6039000153541565},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.5756999850273132},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5461999773979187},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.48840001225471497},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.487199991941452},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4514999985694885},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4422000050544739},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4041000008583069},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.3747999966144562},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3418000042438507},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3398999869823456},{"id":"https://openalex.org/C7863114","wikidata":"https://www.wikidata.org/wiki/Q192627","display_name":"Mimicry","level":2,"score":0.32429999113082886},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31540000438690186},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.31040000915527344},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.3028999865055084},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.30059999227523804},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.29120001196861267},{"id":"https://openalex.org/C150899416","wikidata":"https://www.wikidata.org/wiki/Q1820378","display_name":"Transfer of learning","level":2,"score":0.2662999927997589},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.26249998807907104}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2607.09190","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.09190","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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.2607.09190","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.09190","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":{"Tactile":[0],"feedback":[1],"is":[2],"fundamental":[3],"to":[4,56],"Hand-Object":[5],"Interaction":[6],"(HOI),":[7],"governing":[8],"contact":[9,136],"formation,":[10],"force":[11],"regulation,":[12],"and":[13,80,135,148,161],"stable":[14],"manipulation,":[15],"making":[16],"it":[17],"essential":[18],"for":[19,170],"achieving":[20],"true":[21],"human-like":[22,133],"dexterous":[23,28,58,173],"manipulation.":[24,174],"Yet,":[25],"current":[26],"human-to-robot":[27],"transfer":[29,97],"pipelines":[30],"primarily":[31],"rely":[32],"on":[33,145],"kinematic":[34,61,79],"trajectories,":[35],"resulting":[36],"in":[37,158],"motion":[38],"imitation":[39],"without":[40],"physically":[41,105],"grounded":[42],"interaction.":[43],"To":[44],"address":[45],"this,":[46],"we":[47,93,151],"introduce":[48,110],"TactiDex,":[49],"a":[50,68,95,112,116,139,167],"real-world":[51],"tactile-guided":[52],"benchmark":[53],"specifically":[54],"designed":[55],"move":[57],"manipulation":[59,159],"beyond":[60],"mimicry":[62],"toward":[63],"contact-level":[64],"human-likeness.":[65],"TactiDex":[66],"provides":[67],"comprehensive":[69,143],"dataset":[70],"that":[71,99,121,153],"elegantly":[72],"aligns":[73],"whole-hand":[74],"tactile":[75,119,124],"signals":[76,125],"with":[77,84],"multi-granularity":[78],"object":[81],"states,":[82],"coupled":[83],"standardized":[85],"evaluation":[86],"metrics.":[87],"Building":[88],"upon":[89,115],"this":[90],"data":[91],"paradigm,":[92],"propose":[94],"tactile-driven":[96],"framework":[98,113],"effectively":[100],"translates":[101],"human":[102],"demonstrations":[103],"into":[104,138],"plausible":[106],"robotic":[107],"execution.":[108],"We":[109],"TactiSkill,":[111],"built":[114],"novel":[117],"tri-component":[118],"reward":[120,130],"innovatively":[122],"uses":[123],"as":[126],"structured":[127],"supervision.":[128],"This":[129,164],"unifies":[131],"guidance,":[132],"alignment,":[134],"constraints":[137],"single":[140,147],"objective.":[141],"Through":[142],"experiments":[144],"both":[146],"bimanual":[149],"tasks,":[150],"demonstrate":[152],"TactiSkill":[154],"achieves":[155],"superior":[156],"performance":[157],"success":[160],"physical":[162],"realism.":[163],"work":[165],"lays":[166],"crucial":[168],"foundation":[169],"advancing":[171],"tactile-aware":[172],"Our":[175],"project":[176],"page":[177],"at":[178],"https://tactidex.github.io/.":[179]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-14T00:00:00"}
