DexDirect: Direct Kinesthetic Arm Guidance for Efficient Dexterous Demonstration Collection

• URL: http://arxiv.org/abs/2607.27784v1
• Date: Thu, 30 Jul 2026 07:17:28 GMT
• Title: DexDirect: Direct Kinesthetic Arm Guidance for Efficient Dexterous Demonstration Collection
• Abstract summary: We present DexDirect, a direct kinesthetic arm guidance for collecting dexterous manipulation demonstrations.<n>User studies suggest DexDirect collects 17.2x and 3.2x more successful demonstrations compared to purely vision (AnyTeleop) and pose-tracking (TeleDex)<n>A diffusion policy trained on DexDirect demonstrations reaches a 90% success rate on a cube pick-and-place task.
• Score: 9.768863199575934
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Scalable collection of dexterous manipulation demonstrations remains a major bottleneck for robot learning. High-fidelity interfaces often require costly hardware and extensive setup, while low-setup, low cost alternatives tend to provide less precise control and impose greater cognitive workload on operators. We present DexDirect, a direct kinesthetic arm guidance for efficient dexterous demonstration collection. The operator drags a 6-DoF gravity-compensated robot arm directly by a handle, while a single webcam retargets operator's other hand onto a 16 joints 13-DoF dexterous robot hand. User studies suggest DexDirect collects 17.2x and 3.2x more successful demonstrations compared to purely vision (AnyTeleop) and pose-tracking (TeleDex) baselines. An adapted NASA-TLX shows DexDirect greatly reduces mental demand, effort, and frustration, despite raising physical demand. A diffusion policy trained on DexDirect demonstrations reaches a 90% success rate on a cube pick-and-place task. These results suggest that direct kinesthetic arm guidance combined with vision-based hand retargeting provides an efficient low-setup and scalable interface for collecting dexterous manipulation demonstrations

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