Glovity: Learning Dexterous Contact-Rich Manipulation via Spatial Wrench Feedback Teleoperation System

Glovity addresses key challenges in contact-rich tasks by providing intuitive wrench and tactile feedback, while overcoming embodiment gaps through precise retargeting. User studies demonstrate significant improvements: wrench feedback boosts success rates in book-flipping tasks from 48% to 78% and reduces completion time by 25%, while fingertip calibration enhances thin-object grasping success significantly compared to commercial glove. Furthermore, incorporating wrench signals into imitation learning (via DP-R3M) achieves high success rate in novel contact-rich scenarios, such as adaptive page flipping and force-aware handovers. All hardware designs, software will be open-sourced.