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DONIC: Generalist Dexterous Bimanual Tracking Control from Human Demonstrations

124 upvotes · 21 OCT 2026 · Mingze Sun, Ziang Cao, Yuan Fei et al.

This paper develops a system that can track both hands of a robot in complex, real-life situations, using demonstrations from humans. Practitioners might care because it could enable robots to perform tasks like assembly, cooking, or surgery with greater precision and flexibility.

dexterous manipulationbimanual trackinghuman-robot interactionreinforcement learningroboticspolicy optimization