Whole-Body Dexterity
Current humanoid dexterous manipulation remains largely confined to end-effectors and simple grasps, falling short of humans' ability to engage the entire body by bracing and sliding bulky objects against the arms and torso. We introduce Whole-Body Dexterity (WBD), a general framework that uses the robot's body and appendages as contact surfaces to grasp and manipulate objects. Our sim-to-real pipeline first generates a dataset of feasible whole-body grasps, then trains reinforcement-learning experts on a general any-to-any repositioning objective by sampling initial and goal grasps from the dataset, and distills these experts into a single policy that uses proprioception and object geome...
| Authors | Conor Mc Gartoll, An Dang, Pranay Thangeda et al. |
|---|---|
| Primary category | cs.RO |
| Published | 15 October 2026 |
| Last updated at source | 15 October 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 16 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.