DexDirect: Direct Kinesthetic Arm Guidance for Efficient Dexterous Demonstration Collection

arXiv:2607.27784v1 Announce Type: new 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...