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

arXiv:2606.28323v1 Announce Type: new Abstract: Dexterous manipulation policies can solve individual skills, but composing them to perform multiple tasks with a single hand remains challenging. Adding a new task on top of an existing manipulation skill often imposes conflicting demands on overlapping fingers and contact modes, causing destructive interference between preserving an existing manipulation outcome and executing a new one. We propose DexCompose, a role-aware residual composition fram...