Preprint
Aug 2026
Blind Dexterity: Whole-Body Humanoid Manipulation via Pure Proprioception
Joint encoder-based proprioception, combined with compliant actuation (now widely available on commercial robots and low-cost motors) is already a strong, practical substrate for whole-body dexterous manipulation and interactive perception, and therefore a natural foundation on which richer sensing can be layered.
Aditya Bhatt, Oleg Kaidanov, Pu-Ze Liu et al.
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