发表机构
Shanghaitech University; InstAdapt（上海科技大学; 自适应研究所）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
研究针对当前人到机器人灵巧转移管道依赖运动轨迹缺乏物理交互的问题，引入TactiDex基准，提出触觉驱动转移框架及TactiSkill，经实验证明其在操作成功率和物理逼真度上表现出色，为触觉感知灵巧操作奠定基础。
AI 中文摘要
触觉反馈对于手与物体交互至关重要，能控制接触形成、力调节和稳定操作。然而，当前人到机器人的灵巧转移管道主要依赖运动轨迹，缺乏物理基础的交互。为此，我们引入TactiDex，一个真实世界触觉引导基准，旨在超越运动模仿，实现接触级别的类人灵巧操作。它提供了一个全面的数据集，将全手触觉信号与多粒度运动学和物体状态优雅对齐，并配有标准化评估指标。在此数据范式基础上，我们提出了一个触觉驱动的转移框架，能有效将人类示范转化为物理上合理的机器人执行。我们还介绍了TactiSkill，它基于一种新颖的三组件触觉奖励构建，将触觉信号用作结构化监督。通过单任务和双任务的综合实验，我们证明TactiSkill在操作成功率和物理逼真度方面表现出色。这项工作为推进触觉感知的灵巧操作奠定了关键基础。
英文摘要
Tactile feedback is fundamental to Hand-Object Interaction (HOI), governing contact formation, force regulation, and stable manipulation, making it essential for achieving true human-like dexterous manipulation. Yet, current human-to-robot dexterous transfer pipelines primarily rely on kinematic trajectories, resulting in motion imitation without physically grounded interaction. To address this, we introduce TactiDex, a real-world tactile-guided benchmark specifically designed to move dexterous manipulation beyond kinematic mimicry toward contact-level human-likeness. TactiDex provides a comprehensive dataset that elegantly aligns whole-hand tactile signals with multi-granularity kinematic and object states, coupled with standardized evaluation metrics. Building upon this data paradigm, we propose a tactile-driven transfer framework that effectively translates human demonstrations into physically plausible robotic execution. We introduce TactiSkill, a framework built upon a novel tri-component tactile reward that innovatively uses tactile signals as structured supervision. This reward unifies guidance, human-like alignment, and contact constraints into a single objective. Through comprehensive experiments on both single and bimanual tasks, we demonstrate that TactiSkill achieves superior performance in manipulation success and physical realism. This work lays a crucial foundation for advancing tactile-aware dexterous manipulation. Our project page at https://tactidex.github.io/.
