DEXTERA: From a Single Image to Deployable Dexterous Manipulation via Real-to-Sim-to-Real

arXiv:2609.21045 · cs.RO · Submitted 2026-09-17 · Read on arXiv

cs.RO

Submitted: 2026-09-17

Updated: 2026-10-05

Terminology

• Alignment — 19× in this paper · explained in 1 episode
• Consistency — 10× in this paper · explained in 3 episodes
• Fidelity — 10× in this paper · explained in 2 episodes
• Benchmark — 8× in this paper · explained in 2 episodes
• Calibration — 7× in this paper · explained in 7 episodes
• Grounding — 6× in this paper · explained in 3 episodes
• Reinforcement Learning — 5× in this paper · explained in 4 episodes
• Sim-to-Real Transfer — 5× in this paper · explained in 2 episodes
• Digital Twin — 3× in this paper · explained in 4 episodes
• Distillation — 3× in this paper · explained in 2 episodes
• Robustness — 3× in this paper · explained in 5 episodes
• Accuracy — 2× in this paper · explained in 1 episode
• Action Space — 2× in this paper · explained in 1 episode
• Diffusion Policy — 2× in this paper
• World Model — 2× in this paper · explained in 7 episodes
• Actor — 1× in this paper · explained in 3 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Diffusion Policy (DP) — 1× in this paper · explained in 2 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Gaussian Splatting — 1× in this paper · explained in 4 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Multimodal Dataset — 1× in this paper · explained in 2 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Reward Function — 1× in this paper · explained in 2 episodes
• Sim-to-Real Gap — 1× in this paper · explained in 6 episodes
• Unified Framework — 1× in this paper · explained in 5 episodes
• Zero-Shot Transfer — 1× in this paper · explained in 3 episodes

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