Preprint
Oct 2026
PanTact: Teaching Whole-Body Dexterity with a Wearable Contact Interface
Humanoid robots have many degrees of freedom and contact surfaces, yet most loco-manipulation research restricts manipulation to the hands and avoids other body contacts with the environment. To extend manipulation beyond the hands, we present PanTact, a system that learns humanoid whole-body dexterity, the capability...
Xiao-Meng Xu, Han Zhang, Zhian Ruan et al.
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