DITTO: Dexterous Interface for Transparent TeleOperation

Joaquin Palacios; Katelyn Lee; Cheng Zhang; Zhanpeng He; Matei Ciocarlie

cs.ROSep 16, 2026

DITTO: Dexterous Interface for Transparent TeleOperation

Authors: Joaquin Palacios, Katelyn Lee, Cheng Zhang, Zhanpeng He, Matei Ciocarlie

Abstract

Collecting data for manipulation with high-DOF hands is challenging, as interfaces must capture rich hand motion while rendering the contact interactions essential for precise manipulation. Existing data collection approaches face a trade-off: teleoperation ensures deployment consistency but lacks force feedback, while handheld (in-the-wild) systems provide natural force transparency but introduce a visual embodiment gap at deployment. We present DITTO, a Dexterous Interface for Transparent TeleOperation, which resolves this through the anatomically informed co-design of a dexterous 7-DOF robotic hand and a kinematically equivalent motorized exoskeleton. A 1-to-1 actuator mapping between the exoskeleton and robotic hand enables handheld (in-the-wild) data collection and bilateral teleoperation with joint-level force feedback unified in a single platform. We demonstrate that the DITTO exoskeleton spans the operator's natural index-to-thumb workspace, and showcase DITTO's dexterous capabilities via learned policies on contact-rich tasks.

Explore similar work

DITTO-X: Forward and Reverse Teleoperation for Dexterous Manipulation and Human Intervention
Sep 30, 2026Zhanpeng He, Joaquin Palacios, Zhangyu Wang +5Dexterous Manipulation Contact-Rich Robotic Manipulation
Department of Computer Science, Stanford University, Stanford, CA 94305, USA. · Department of Mechanical Engineering, Columbia University, New York, NY 10027, USA.
MILE: A Mechanically Isomorphic Hand Exoskeleton and Visuotactile Robotic Hand for Data Collection in Dexterous Manipulation
Nov 29, 2025Jinda Du, Jieji Ren, Qiaojun Yu +6Robotic Hand Design Dexterous Manipulation
State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China. · Shanghai Key Laboratory of Intelligent Robotics, Shanghai Jiao Tong University, Shanghai 200240, China. · Shanghai Artificial Intelligence Laboratory, Shanghai, China. +1
DEX-Mouse: A Low-cost Portable and Universal Interface with Force Feedback for Data Collection of Dexterous Robotic Hands
Apr 16, 2026Joonho Koh, Haechan Jung, Nayoung Kim +2Dexterous Manipulation Robotic Data Collection
Dept. of Artificial Intelligence, Sogang University, Korea · Dept. of Electronic Engineering, Sogang University, Korea · Dept. of Mechanical Engineering, Sogang University, Korea +1

Sep 30, 2026, cs.ROJ/K move · Enter open · S save

DITTO-X: Forward and Reverse Teleoperation for Dexterous Manipulation and Human Intervention

Zhanpeng He, Joaquin Palacios, Zhangyu Wang, Chenhao Li+4

Department of Computer Science, Stanford University, Stanford, CA 94305, USA. · Department of Mechanical Engineering, Columbia University, New York, NY 10027, USA.

Dexterous Manipulation Contact-Rich Robotic Manipulation Robot Teleoperation

Open paper AskPDF arXiv

Teleoperated demonstrations are a primary source of data for robot manipulation, and teleoperated interventions are a primary mechanism for correcting policies at deployment. Yet most teleoperation systems close the loop through vision alone and are built around parallel-jaw grippers, limiting both what the robot can execute and what the operator can express through it. This is most damaging in shared autonomy, where the operator sees the scene only through occluded cameras and must take over a dexterous hand mid-task, often with an object already grasped. We present DITTO-X, a hand-agnostic dexterous teleoperation interface that renders joint-level force and fingertip contact events from sensing already on the robot hand, and drives three commercial dexterous hands (Sharpa, Wuji, and Inspire) without per-hand redesign. Because the exoskeleton is actuated, DITTO-X also supports reverse teleoperation, in which the robot back-drives the operator's fingers into its own configuration before control is transferred, so the human enters the loop already matched to the state they inherit. Our results show that DITTO-X improves demonstration quality and throughput over a commercial hand-tracking glove, both in regular data collection and in human intervention during policy deployment for contact-rich manipulation tasks. More information can be found from our website: https://tml.stanford.edu/ditto-x/.

Abstract

Explore similar work

DITTO-X: Forward and Reverse Teleoperation for Dexterous Manipulation and Human Intervention

MILE: A Mechanically Isomorphic Hand Exoskeleton and Visuotactile Robotic Hand for Data Collection in Dexterous Manipulation

DEX-Mouse: A Low-cost Portable and Universal Interface with Force Feedback for Data Collection of Dexterous Robotic Hands