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D matrices to provide precise force sensing. To account for varying hand morphologies, the kinematics node moves away from absolute joint angles, instead employing S鈥媡鈥媟鈥媏鈥媡鈥媍鈥媓Stretch (flexion-extension) and S鈥媝鈥媟鈥媏鈥媋鈥媎Spread (abduction-adduction) parameters to express 19-DOF motion. This representation characterizes only relative states and topological relationships, balancing precision with cross-operator generalization and laying the foundation for retargeting. The vision and pose nodes capture GoPro images (
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Policies trained on DexViTac's multimodal dataset achieve over 85% success in real-world dexterous manipulation, proving that high-fidelity tactile data unlocks a new level of robotic dexterity.
