DexMimic: A Generalist Dexterous Hand-Object Tracking Policy via Value-Guided Reset Allocation

Experiments show improved tracking success and training efficiency, faster fine-tuning, and the potential for zero-shot generalization to unseen trajectories and objects; larger training sets further improve efficiency and generalization. It comes from a paper posted to arXiv on 17 October 2026. 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 initialization distribution online to prioritize difficult phases and select reset states with higher expected tracking returns. We further introduce a benchmark spanning training, fine-tuning, and generalization. Finally, we validate DexMimic on a real-world dexterous manipulation platform.

Why it counts

Experiments show improved tracking success and training efficiency, faster fine-tuning, and the potential for zero-shot generalization to unseen trajectories and objects; larger training sets further improve efficiency and generalization.

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