From Grasps to Dexterity: Large-Scale Grasp Pretraining for Dexterous Manipulation

arXiv:2606.30749v1 Announce Type: new Abstract: Large-scale dexterous grasp datasets encode rich priors over hand-object interaction, but their use has largely been confined to grasp generation and pick-and-place manipulation. We study whether such data can instead support functional dexterity in articulated tool use, where a robot must acquire a tool, maintain contact, and operate its functional moving parts. We adapt a hierarchical imitation learning framework that combines high-level hand sub...