DexFLEX: Contact-Aware Foundation Controller for Command-Guided Dexterity
Dexterous robot hands can receive useful motion intent from teleoperation or learned policies, but successful execution also depends on contact decisions that these commands rarely specify. We introduce DexFLEX, a contact-aware foundation controller that turns upstream fingertip-motion drafts into contact-consistent joint commands. Instead of treating a draft as a trajectory to copy, DexFLEX treats it as evidence about intent: from the current tactile-proprioceptive state, it proposes feasible short-horizon motion chunks, predicts their contact consequences, and selects the candidate that best follows the command while preserving future contact stability. At inference time, a simple Draft...
| Authors | Weikang Wan, Zeyu Lai, Jianyu Hou et al. |
|---|---|
| Primary category | cs.RO |
| Published | 9 October 2026 |
| Last updated at source | 9 October 2026 |
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