DexMimic: A Generalist Dexterous Hand-Object Tracking Policy via Value-Guided Reset Allocation
Achieving human-like dexterous manipulation remains a central challenge in robotics. Learning from human hand-object interaction (HOI) datasets offers a promising pathway to diverse dexterous skills, yet existing physics-based approaches train specialist policies for individual trajectories, thereby limiting skill reuse at scale. We introduce DexMimic, a generalist dexterous hand-object tracking policy jointly trained across diverse HOI trajectories. Efficient joint training requires allocating each rollout to both an undertrained phase and a starting state that supports continued tracking. DexMimic realizes this insight through Value-Guided Reset Allocation, which adapts the initializati...
| Authors | Zhexi Luo, Zhixuan Xu, Rui Yang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 13 October 2026 |
| Last updated at source | 13 October 2026 |
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