RESEARCH PAPERSubmitted 20 Nov 2025

Dexterity from Smart Lenses: Multi-Fingered Robot Manipulation with In-the-Wild Human Demonstrations

Irmak Guzey; Haozhi Qi; Julen Urain; Changhao Wang; Jessica Yin; Krishna Bodduluri; Mike Lambeta; Lerrel Pinto; Akshara Rai; Jitendra Malik; Tingfan Wu; Akash Sharma; Homanga Bharadhwaj

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Major category: Related resources
Quadrant: Not applicable
Architecture: Not applicable
Prediction paradigm: Not applicable
Subcategories: Action policy foundations Datasets & data collection
Source review status: Verified from primary sources

Category review. AINA predicts future fingertip trajectories from tracked object/fingertip histories and executes them through arm-hand inverse kinematics. It does not predict object/environment futures, and language initializes segmentation rather than the control policy. It belongs in Related resources as human-to-robot visuomotor imitation. Reading evidence

AT A GLANCE

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BibTeX

@article{Guzey2025DexteritySmart,
      title={Dexterity from Smart Lenses: Multi-Fingered Robot Manipulation with In-the-Wild Human Demonstrations}, 
      author={Irmak Guzey and Haozhi Qi and Julen Urain and Changhao Wang and Jessica Yin and Krishna Bodduluri and Mike Lambeta and Lerrel Pinto and Akshara Rai and Jitendra Malik and Tingfan Wu and Akash Sharma and Homanga Bharadhwaj},
      year={2025},
      journal={arXiv:2511.16661},
}

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