DexForesight: Grounding Dexterous Policies with Implicit Spatial Foresight
DexForesight: Grounding Dexterous Policies with Implicit Spatial Foresight
This research presents DexForesight, a framework that learns spatial foresight implicitly for dexterous manipulation by integrating dynamics-aware world representations into policy latents. The system trains an action-conditioned spatial world model using offline scene depth, kinematic hand geometry, and demonstration trajectories to predict 3D hand-point motion and visual feature changes, including occluded finger movements. At deployment, only the policy is retained, operating on RGB observations, language, and robot state without needing depth input or explicit future prediction. On 11 DexJoCo simulation tasks, DexForesight improves the base policy's success rate from 49.4% to 60.5%. On three real-robot dexterous manipulation tasks, it achieves a 58.3% success rate compared to 50.0% for the strongest baseline.
The paper introduces DexForesight, a framework that grounds dexterous manipulation policies with implicit spatial foresight by injecting dynamics-aware world representations into policy latents, achieving improved success rates on both simulation and real-robot tasks without requiring depth input or explicit future prediction at deployment.
Source: arXiv Robotics — research abstracts · Read original article ↗
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world model and align policy queries with its predictive world queries, transferring the learned spatial dynamics into policy latents and using them to condition action generation. At deployment, only the policy is retained, operating on RGB observations, language, and robot state without depth input or explicit future prediction. On 11 DexJoCo simulation tasks, DexForesight improves the overall success rate of the b
Open source S4
ase policy from 49.4% to 60.5%. On three real-robot dexterous manipulation tasks, DexForesight achieves 58.3% success, compared with 50.0% for the strongest baseline. Project page https://dexforesight.github.io/
Open source S5
DexForesight: Grounding Dexterous Policies with Implicit Spatial Foresight
Open source S1
Source：arXiv Robotics — research abstracts · arxiv.org