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

Robotic hands capable of dexterous manipulation have made impressive strides, but teaching a single hand to perform multiple tasks simultaneously — without one task undoing another — remains a hard unsolved problem. Imagine a robot hand that already knows how to hold an object securely; asking it to also open a latch might cause it to loosen its grip. DexCompose addresses this by assigning explicit "ownership" of individual fingers to different tasks, letting each sub-policy operate in its own movement subspace. Applications range from assembly-line robotics to prosthetics, where a single robotic hand must seamlessly handle complex, overlapping manipulation demands in real time. Authors: Dihong Huang, Zhenyu Wei, Zhuxiu Xu, Yunchao Yao, Sikai Li, Mingyu Ding Paper: https://arxiv.org/abs/2606.28323v1