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arxiv 2506.11916 v1 pith:WAZOPPKW submitted 2025-06-13 cs.RO

mimic-one: a Scalable Model Recipe for General Purpose Robot Dexterity

classification cs.RO
keywords real-worldcollectioncontroldatadesigneddexterousenablinghand
verification ladder T0 review T1 audit T2 compute T3 formal T4 reserved
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We present a diffusion-based model recipe for real-world control of a highly dexterous humanoid robotic hand, designed for sample-efficient learning and smooth fine-motor action inference. Our system features a newly designed 16-DoF tendon-driven hand, equipped with wide angle wrist cameras and mounted on a Franka Emika Panda arm. We develop a versatile teleoperation pipeline and data collection protocol using both glove-based and VR interfaces, enabling high-quality data collection across diverse tasks such as pick and place, item sorting and assembly insertion. Leveraging high-frequency generative control, we train end-to-end policies from raw sensory inputs, enabling smooth, self-correcting motions in complex manipulation scenarios. Real-world evaluations demonstrate up to 93.3% out of distribution success rates, with up to a +33.3% performance boost due to emergent self-correcting behaviors, while also revealing scaling trends in policy performance. Our results advance the state-of-the-art in dexterous robotic manipulation through a fully integrated, practical approach to hardware, learning, and real-world deployment.

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Forward citations

Cited by 3 Pith papers

Reviewed papers in the Pith corpus that reference this work. Sorted by Pith novelty score.

  1. Smooth Operator: A Real-Time Sampling-Based Algorithm for Kinematic Hand Retargeting

    cs.RO 2026-07 conditional novelty 6.0

    A sampling-based retargeter reduces hand teleoperation jitter and improves task success rates and operator workload compared to gradient-based baselines.

  2. EgoKit: Towards Unified Low-Cost Egocentric Data Collection with Heterogeneous Devices

    cs.CV 2026-05 unverdicted novelty 6.0

    EgoKit is a new toolkit and accessory set that unifies egocentric video collection with wrist views across heterogeneous consumer devices using a consistent interface and log format.

  3. mimic-video: Video-Action Models for Generalizable Robot Control Beyond VLAs

    cs.RO 2025-12 unverdicted novelty 6.0

    mimic-video combines internet video pretraining with a flow-matching decoder to achieve state-of-the-art robotic manipulation performance with 10x better sample efficiency than vision-language-action models.