外观
论文arXiv 2609.165861 个月前
ProxiDex：学习用于灵巧操作的动力学引导接近性策略
原文链接：ProxiDex: Learning Dynamics-Guided Proximity Policy for Dexterous Manipulation（arXiv 2609.16586 · 发布日期：2026-09-15）
ProxiDex: Learning Dynamics-Guided Proximity Policy for Dexterous Manipulation
ProxiDex将手物接近性作为交互状态，通过动力学引导策略，在仿真和真实灵巧操作中提升成功率与鲁棒性。
核心要点
- 多指操作依赖稳定手物交互，但视觉遮挡、触觉标定和接触不确定会使策略脆弱。
- 方法重建交互点云，将几何距离转为硬件无关的接近性线索，并支持VR遥操作反馈。
- 其学习动作条件接近性动力学，并在操作阶段间自适应重加权接近性token。
- 仿真和真实实验表明，其在标准、未见物体和扰动场景优于代表性基线，并提供额外可视化。
验证范围与局限：验证范围为仿真和真实实验中的标准、未见物体与扰动场景。
英文摘要 (Abstract)
Multi-finger dexterous manipulation relies on stable hand-object interactions, yet these interactions are partially observable in practice. Visual observations are often occluded by the hand, tactile sensors introduce hardware-specific modalities and calibration burdens, and existing policies rarely model how these cues evolve under actions, making them brittle under contact uncertainty. To address these, we present ProxiDex, a dynamics-guided proximity policy framework that treats hand-object proximity as an interaction state for dexterous manipulation. ProxiDex reconstructs interaction point clouds and converts geometric distances into proximity cues, forming a hardware-agnostic contact representation that provides immersive feedback during VR teleoperation. Built on this representation, ProxiDex learns action-conditioned proximity dynamics with a coupled forward-inverse design: future observation latents are predicted from actions, while proximity variations are decoded from latent changes. Leveraging these dynamics, ProxiDex adaptively reweights proximity tokens across manipulation phases and uses dynamics-consistency supervision to guide policy inference, stabilizing action generation under unreliable visual feedback. Simulation and real-world experiments demonstrate improved success rates and robustness over representative baselines across standard, unseen objects, and perturbation scenarios. Additional visualizations are available at https://proxidex.github.io/.
作者：Yushan Bai, Boyu Zheng, Zhiyang Mao, Hongzheng Sun, Yuchuang Tong, En Li, Zhengtao Zhang
来源
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