Author

Joaquin Palacios

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Preprint Sep 2026

DITTO-X: Forward and Reverse Teleoperation for Dexterous Manipulation and Human Intervention

Teleoperated demonstrations are a primary source of data for robot manipulation, and teleoperated interventions are a primary mechanism for correcting policies at deployment. Yet most teleoperation systems close the loop through vision alone and are built around parallel-jaw grippers, limiting both what the robot can e...

Zhan-Peng He, Joaquin Palacios, Zhang-Yu Wang et al. · 0 citations

Preprint Sep 2026

DITTO: Dexterous Interface for Transparent TeleOperation

Collecting data for manipulation with high-DOF hands is challenging, as interfaces must capture rich hand motion while rendering the contact interactions essential for precise manipulation. Existing data collection approaches face a trade-off: teleoperation ensures deployment consistency but lacks force feedback, while...

Joaquin Palacios, Katelyn Lee, Cheng Zhang et al. · 1 citation