DexCompose: Reusing Dexterous Policies for Multi-Task Manipulation with a Single Hand
Evolving story · 1 updatesAdvances in Dexterous ManipulationTimeline →Researchers propose DexCompose, a framework for reusing dexterous policies to perform multiple tasks with a single hand. DexCompose enables multi-task manipulation through explicit finger-level action ownership.
Dexterous manipulation policies can solve individual skills, but composing them to perform multiple tasks with a single hand remains challenging. Adding a new task on top of an existing manipulation skill often imposes conflicting demands on overlapping fingers and contact modes, causing destructive interference between preserving an existing manipulation outcome and executing a new one. We propose DexCompose, a role-aware residual composition framework that reuses pretrained dexterous policies for multi-task manipulation through explicit finger-level action ownership. Given two pretrained ful
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