DexEXO: A Wearability-First Dexterous Exoskeleton for Operator-Agnostic Demonstration and Learning

Scaling dexterous robot learning is constrained by the difficulty of collecting high-quality demonstrations across diverse operators. Existing wearable interfaces often trade comfort and cross-user adaptability for kinematic fidelity, while embodiment mismatch between demonstration and deployment requires visual post-processing before policy training. We present DexEXO, a wearability-first hand exoskeleton that aligns visual appearance, contact geometry, and kinematics at the hardware level. DexEXO features a pose-tolerant thumb mechanism and a slider-based finger interface analytically modeled to support hand lengths from 140~mm to 217~mm, reducing operator-specific fitting and enabling scalable cross-operator data collection. A passive hand visually matches the deployed robot, allowing direct policy training from raw wrist-mounted RGB observations. User studies demonstrate improved comfort and usability compared to prior wearable systems. Using visually aligned observations alone, we train diffusion policies that achieve competitive performance while substantially simplifying the end-to-end pipeline. These results show that prioritizing wearability and hardware-level embodiment alignment reduces both human and algorithmic bottlenecks without sacrificing task performance. Project Page: https://dexexo-research.github.io/

What Prompts Don't Say: Understanding and Managing Underspecification in LLM Prompts

Building LLM-powered software requires developers to communicate their requirements through natural language, but developer prompts are frequently underspecified, failing to fully capture many user-important requirements. In this paper, we present an in-depth analysis of prompt underspecification, showing that while LLMs can often (41.1%) guess unspecified requirements by default, such behavior is less robust: Underspecified prompts are 2x more likely to regress over model or prompt changes, sometimes with accuracy drops by more than 20%. We then demonstrate that simply adding more requirements to a prompt does not reliably improve performance, due to LLMs' limited instruction-following capabilities and competing constraints, and standard prompt optimizers do not offer much help. To address this, we introduce novel requirements-aware prompt optimization mechanisms that can improve performance by 4.8% on average over baselines that naively specify everything in the prompt. Beyond prompt optimization, we envision that effectively managing prompt underspecification requires a broader process, including proactive requirements discovery, evaluation, and monitoring.