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Full-Stack Survey of Dexterous Robotic Hands in the Foundation-Model Era
This survey reviews dexterous robotic hand research from January 2024 to early November 2026, organizing the field into five layers: hardware, data, cross-embodiment transfer, learning, and evaluation. It highlights that human data value depends on kinematic, visual, and contact alignment, and that foundation policies still face embodiment-specific constraints. The paper identifies eleven open problems and proposes reporting standards for more measurable progress.
Why it matters: Provides a structured, current synthesis of a rapidly evolving area, offering actionable insights for researchers and practitioners.
robotic manipulationfoundation modelsembodiment