2026
DexTele: A Dual-Arm Dexterous Teleoperation System Based on Motion Retargeting and Adaptive Force Control
Yuanchuan. Lai, Qing Gao#, Ziyan Liang, Xianfeng Cheng, Junjie Hu, Zhaojie Ju (# corresponding author)
ICRA 2026
To address the challenges of cross-platform motion mapping and compliant interaction in dual-arm dexterous teleoperation, this work proposes DexTele, a system that achieves precise motion retargeting across heterogeneous platforms via a motion-graph encoder and latent optimization, while integrating a Vision-Language Model (VLM) with Model Predictive Control (MPC) for proactive force prediction and online optimization, demonstrating superior generalization and grasping robustness across multiple robotic hardware.
DexTele: A Dual-Arm Dexterous Teleoperation System Based on Motion Retargeting and Adaptive Force Control
Yuanchuan. Lai, Qing Gao#, Ziyan Liang, Xianfeng Cheng, Junjie Hu, Zhaojie Ju (# corresponding author)
ICRA 2026
To address the challenges of cross-platform motion mapping and compliant interaction in dual-arm dexterous teleoperation, this work proposes DexTele, a system that achieves precise motion retargeting across heterogeneous platforms via a motion-graph encoder and latent optimization, while integrating a Vision-Language Model (VLM) with Model Predictive Control (MPC) for proactive force prediction and online optimization, demonstrating superior generalization and grasping robustness across multiple robotic hardware.