ReDex: Repairing Sim-to-Real Dexterous Policies by Finger-Level Compliant Interaction
arXiv:2610.07525v1 Announce Type: new Abstract: Dexterous manipulation policies trained in simulation often fail to transfer to the real world because of errors in contact timing and force regulation. Yet these policies can retain useful multi-finger coordination for task progression. We propose ReDex, a framework for adapting a simulation-trained base policy to the real world by correcting local contact failures and incorporating tactile feedback. Starting from a proprioception-only base polic
Overview
arXiv:2610.07525v1 Announce Type: new Abstract: Dexterous manipulation policies trained in simulation often fail to transfer to the real world because of errors in contact timing and force regulation. Yet these policies can retain useful multi-finger coordination for task progression. We propose ReDex, a framework for adapting a simulation-trained base policy to the real world by correcting local contact failures and incorporating tactile feedback. Starting from a proprioception-only base policy, ReDex allows a human operator to physically correct contact failures at selected fingers under compliant control during real-world rollouts, while the frozen base policy continues to control the remaining fingers. These rollouts combine base policy execution, human-corrected finger motion, and fingertip force observations. We reconstruct force-informed targets from these rollouts to train a standalone force-conditioned policy via behavior cloning. This design reduces human correction effort, enables learning of contact regulation from real-world interaction, and introduces force feedback into a proprioception-only policy without tactile simulation or complex full-hand teleoperation. We evaluate ReDex on two challenging, contact-rich dexterous manipulation tasks on real hardware. Compared with sim-to-real transferred base policies, ReDex increases Object Flipping success rate from 14\% to 86\% across two objects and average Screwdriver Rotation progress from 26.0% to 95.3% across three objects.
Source
Originally published at arxiv.org.
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Source: https://arxiv.org/abs/2610.07525
