AI 服务暂时不可用，以下为来源正文，待恢复后补全翻译。
[Submitted on 16 Sep 2026] Title:DITTO: Dexterous Interface for Transparent TeleOperation View a PDF of the paper titled DITTO: Dexterous Interface for Transparent TeleOperation, by Joaquin Palacios and 4 other authors View PDF HTML (experimental) Abstract:Collecting data for manipulation with high-DOF hands is challenging, as interfaces must capture rich hand motion while rendering the contact interactions essential for precise manipulation. Existing data collection approaches face a trade-off: teleoperation ensures deployment consistency but lacks force feedback, while handheld (in-the-wild) systems provide natural force transparency but introduce a visual embodiment gap at deployment. We present DITTO, a Dexterous Interface for Transparent TeleOperation, which resolves this through the anatomically informed co-design of a dexterous 7-DOF robotic hand and a kinematically equivalent motorized exoskeleton. A 1-to-1 actuator mapping between the exoskeleton and robotic hand enables handheld (in-the-wild) data collection and bilateral teleoperation with joint-level force feedback unified in a single platform. We demonstrate that the DITTO exoskeleton spans the operator's natural index-to-thumb workspace, and showcase DITTO's dexterous capabilities via learned policies on contact-rich tasks. Comments: 8 Pages, 6 Figures, 4 Tables Subjects: Robotics (cs.RO) Cite as: arXiv:2609.19196 [cs.RO] (or arXiv:2609.19196v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2609.19196 arXiv-issued DOI via DataCite Submission history From: Joaquin Palacios [view email] [v1] Wed, 16 Sep 2026 01:12:52 UTC (12,997 KB) Full-text links: Access Paper: View a PDF of the paper titled DITTO: Dexterous Interface for Transparent TeleOperation, by Joaquin Palacios and 4 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-09 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)