[Submitted on 8 Oct 2026]
Title:PanTact: Teaching Whole-Body Dexterity with a Wearable Contact Interface
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Abstract:Humanoid robots have many degrees of freedom and contact surfaces, yet most loco-manipulation research restricts manipulation to the hands and avoids other body contacts with the environment. To extend manipulation beyond the hands, we present PanTact, a system that learns humanoid whole-body dexterity, the capability to manipulate with any suitable body surface, directly from robot-free human demonstrations. Our key idea is to use contact as manipulation-centric information that transfers across embodiments. Contact locations and timing specify the interactions needed to accomplish a task, while the robot chooses how to coordinate its body to realize them within its own physical constraints. Specifically, PanTact captures, learns, and executes whole-body contact via: 1) a wearable, robot-free data collection interface that augments egocentric vision and bimanual UMI grippers with whole-body modular contact patches to record body contact locations and states; 2) a visuomotor policy that mitigates the egocentric observation gap and predicts whole-body contact goals; and 3) contact-aware whole-body control formulations that realize active contact goals using suitable robot surfaces. We deploy PanTact on a Unitree G1 humanoid without additional body contact sensors, demonstrating whole-body dexterity involving body support, pushing, sweeping, and load-sharing. Website: this https URL
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2610.12558 [cs.RO]
(or arXiv:2610.12558v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2610.12558
arXiv-issued DOI via DataCite
Submission history
From: Xiaomeng Xu [view email] [v1] Thu, 8 Oct 2026 18:00:02 UTC (20,328 KB)
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