DexCompose: Reusing Dexterous Policies for Multi-Task Manipulation with a Single Hand

It matters because dexterous manipulation policies solve individual skills but composing them for multi-task manipulation with a single hand remains challenging due to conflicting demands on overlapping fingers and contact.

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…