DexSIM: Real-time Dexterous Simulation with Unified Causal Video Diffusion
Recent progress of video diffusion models have enabled extensive simulation of the physical world. While simulation with hand object interaction has been less explored. We propose DexSIM, a dexterous simulation framework for simulating dexterous manipulation in real-time. While previous works utilizing video diffusion and 3D reconstruction focus on navigation, dexterous manipulation has been limited while it has extensive applications for creating interactive experiences with the simulated world and for generating synthetic data for robotics. Existing methods lack real-time interactivity and long-term spatial consistency and memory. We propose a 2-stage training framework for DexSIM. Firs...
| Authors | Adam Lee |
|---|---|
| Primary category | cs.CV |
| Published | 23 May 2026 |
| Last updated at source | 23 May 2026 |
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