Dexterous Robotic Hands in the Foundation-Model Era: A Full-Stack Survey of Hardware, Data, Cross-Embodiment Transfer, Learning, and Evaluation
Dexterous Robotic Hands in the Foundation-Model Era: A Full-Stack Survey of Hardware, Data, Cross-Embodiment Transfer, Learning, and Evaluation
This survey reviews work on dexterous robotic hands from January 2024 to early November 2026, organizing literature into hardware, data, cross-embodiment transfer, learning, and evaluation layers. It concludes that human data value depends on alignment rather than volume, shared representations do not remove embodiment-specific constraints, and task completion is insufficient for deployment readiness, while identifying eleven open problems.
This survey synthesizes literature from January 2024 to early November 2026 on dexterous robotic hands, distinguishing between experimental comparisons and vendor-reported statistics while highlighting limitations in zero-shot transfer and deployment readiness.
Source: arXiv Robotics — research abstracts · Read original article ↗
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Source：arXiv Robotics — research abstracts · arxiv.org