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arXiv · 2609.16504

UniDex-ViTac: Learning Unified Visuo-Tactile Dexterous Manipulation Policy from Human Video Data

Hyesung Lee·Si-Hwan Heo·Sungwook Yang
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Abstract

Human videos provide demonstrations of dexterous manipulation but lack robot-executable actions and tactile measurements. We present UniDex-ViTac, a framework that uses human-video-guided simulation to generate robot demonstrations paired with fingertip contact observations for training a deployable visuo-tactile policy. Object-specific residual reinforcement learning specialists adapt annotated human-object interaction references to a robotic arm-hand system. Their successful rollouts pair final robot action targets with robot-side fingertip contact observations. From 50 human demonstrations across ten objects, we collect 10,000 simulated trajectories to train a single Action Chunking with Transformers (ACT) based generalist. The policy combines point clouds, proprioception, and four binary contact signals encoded through fingertip labels and a separate token, without requiring human references or privileged object identity and pose at deployment. The contact-augmented configuration achieves 68.3% macro-average success in simulation, compared with 55.5% for the point-cloud-only baseline. Without real-robot demonstrations or policy fine-tuning, it succeeds in 73/110 physical trials (66.4%) across six seen and five unseen objects, compared with 60/110 (54.5%) for the baseline, an increase of 11.8 percentage points. These results support the feasibility of learning a unified visuo-tactile dexterous manipulation policy from video-guided simulated interactions. Project page: https://unidex-vitac.github.io/

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Hyesung Lee, Si-Hwan Heo, Sungwook Yang. 2026-09-15. UniDex-ViTac: Learning Unified Visuo-Tactile Dexterous Manipulation Policy from Human Video Data. https://arxiv.org/abs/2609.16504

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