DexAgent: An Agentic Human2Sim2Robot Framework for Dexterous Manipulation with Self-Evolving Tool Library

arXiv:2609.35318 · cs.RO · Submitted 2026-09-28 · Read on arXiv

cs.RO

Submitted: 2026-09-28

Updated: 2026-10-02

Project page: https://dexagent123.github.io

Terminology

• Verifier — 51× in this paper · explained in 2 episodes
• Verification — 8× in this paper · explained in 2 episodes
• Semantic Understanding — 6× in this paper · explained in 2 episodes
• Consistency — 4× in this paper · explained in 3 episodes
• Computer Vision and Pattern Recognition — 3× in this paper
• Grounding — 3× in this paper · explained in 3 episodes
• Adaptation — 2× in this paper · explained in 1 episode
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Sim-to-Real Transfer — 2× in this paper · explained in 2 episodes
• Trace — 2× in this paper · explained in 2 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Agentic Framework — 1× in this paper · explained in 6 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Generalizability — 1× in this paper · explained in 6 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Task Decomposition — 1× in this paper · explained in 2 episodes

Sources

• DextrAH-RGB: Visuomotor Policies to Grasp Anything with Dexterous Hands
• Learning Dexterous In-Hand Manipulation
• DexMV: Imitation Learning for Dexterous Manipulation from Human Videos
• DexVIP: Learning Dexterous Grasping with Human Hand Pose Priors from Video
• DexMachina: Functional Retargeting for Bimanual Dexterous Manipulation
• ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learning
• R3M: A Universal Visual Representation for Robot Manipulation
• EgoVLA: Learning Vision-Language-Action Models from Egocentric Human Videos
• EgoMimic: Scaling Imitation Learning via Egocentric Video
• Crossing the Human-Robot Embodiment Gap with Sim-to-Real RL using One Human Demonstration
• Do as I Do: Dexterous Manipulation Data from Everyday Human Videos
• SPIDER: Scalable Physics-Informed Dexterous Retargeting
• TopoRetarget: Interaction-Preserving Retargeting for Dexterous Manipulation
• EgoInfinity: A Web-Scale 4D Hand-Object Interaction Data Engine for Any-View Robot Retargeting and Video-to-Action Robot Learning
• Reconstructing Hand-Held Objects in 3D from Images and Videos
• VOID: Video Object and Interaction Deletion
• $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
• EgoDex: Learning Dexterous Manipulation from Large-Scale Egocentric Video

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