November 8, 2025Open Access

Dexterous Manipulation through Imitation Learning: A Survey

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Dexterous manipulation enables robots to skillfully control and manipulate objects, enhancing their interaction capabilities.
Recent advances in reinforcement learning show potential but require extensive training data for effective operation in complex environments.
Imitation learning allows robots to learn dexterous manipulation via expert demonstrations, capturing critical coordination and contact dynamics effectively.
The review highlights key challenges and proposes future research directions for improving imitation learning in robotic systems.

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This survey reviews advances in imitation learning for dexterous manipulation, emphasizing skills, challenges, and training data requirements.

An et al. (2025) studied this question.

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This survey reviews advances in imitation learning for dexterous manipulation, emphasizing skills, challenges, and training data requirements.