Cover Image

SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulation

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Kedia, Kushal, Lum, Tyler Ga Wei, Bohg, Jeannette, Liu, C. Karen
Format:	Preprint
Published:	2026
Subjects:	Robotics Artificial Intelligence
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Crossing the Human-Robot Embodiment Gap with Sim-to-Real RL using One Human Demonstration
by: Lum, Tyler Ga Wei, et al.
Published: (2025)

Closing the Reality Gap: Zero-Shot Sim-to-Real Deployment for Dexterous Force-Based Grasping and Manipulation
by: Zhao, Zhe, et al.
Published: (2026)

Scaffolding Dexterous Manipulation with Vision-Language Models
by: de Bakker, Vincent, et al.
Published: (2025)

X-Sim: Cross-Embodiment Learning via Real-to-Sim-to-Real
by: Dan, Prithwish, et al.
Published: (2025)

Neural Attention Field: Emerging Point Relevance in 3D Scenes for One-Shot Dexterous Grasping
by: Wang, Qianxu, et al.
Published: (2024)

Get a Grip: Multi-Finger Grasp Evaluation at Scale Enables Robust Sim-to-Real Transfer
by: Lum, Tyler Ga Wei, et al.
Published: (2024)

Make a Donut: Hierarchical EMD-Space Planning for Zero-Shot Deformable Manipulation with Tools
by: You, Yang, et al.
Published: (2023)

Find the Fruit: Zero-Shot Sim2Real RL for Occlusion-Aware Plant Manipulation
by: Subedi, Nitesh, et al.
Published: (2025)

Consistency Policy: Accelerated Visuomotor Policies via Consistency Distillation
by: Prasad, Aaditya, et al.
Published: (2024)

Grounding Sim-to-Real Generalization in Dexterous Manipulation: An Empirical Study with Vision-Language-Action Models
by: Jin, Ruixing, et al.
Published: (2026)

DexGrasp-Zero: A Morphology-Aligned Policy for Zero-Shot Cross-Embodiment Dexterous Grasping
by: Wu, Yuliang, et al.
Published: (2026)

SplatSim: Zero-Shot Sim2Real Transfer of RGB Manipulation Policies Using Gaussian Splatting
by: Qureshi, Mohammad Nomaan, et al.
Published: (2024)

Beyond Binary: Sim-to-Real Dexterous Manipulation with Physics-Grounded Contact Representation
by: Pan, Jiahe, et al.
Published: (2026)

SpringGrasp: Synthesizing Compliant, Dexterous Grasps under Shape Uncertainty
by: Chen, Sirui, et al.
Published: (2024)

CordViP: Correspondence-based Visuomotor Policy for Dexterous Manipulation in Real-World
by: Fu, Yankai, et al.
Published: (2025)

One-Shot Imitation under Mismatched Execution
by: Kedia, Kushal, et al.
Published: (2024)

Motion Tracks: A Unified Representation for Human-Robot Transfer in Few-Shot Imitation Learning
by: Ren, Juntao, et al.
Published: (2025)

SPiDR: A Simple Approach for Zero-Shot Safety in Sim-to-Real Transfer
by: As, Yarden, et al.
Published: (2025)

Object-Focus Actor for Data-efficient Robot Generalization Dexterous Manipulation
by: Li, Yihang, et al.
Published: (2025)

Constraint-Preserving Data Generation for Visuomotor Policy Learning
by: Lin, Kevin, et al.
Published: (2025)

TransDex: Pre-training Visuo-Tactile Policy with Point Cloud Reconstruction for Dexterous Manipulation of Transparent Objects
by: Li, Fengguan, et al.
Published: (2026)

In-Hand Manipulation of Articulated Tools with Dexterous Robot Hands with Sim-to-Real Transfer
by: Atar, Soofiyan, et al.
Published: (2025)

SLAG: Scalable Language-Augmented Gaussian Splatting
by: Szilagyi, Laszlo, et al.
Published: (2025)

DiffCloud: Real-to-Sim from Point Clouds with Differentiable Simulation and Rendering of Deformable Objects
by: Sundaresan, Priya, et al.
Published: (2022)

Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoids
by: Lin, Toru, et al.
Published: (2025)

Object-Centric Representations Improve Policy Generalization in Robot Manipulation
by: Chapin, Alexandre, et al.
Published: (2025)

Learning Object-Centric Spatial Reasoning for Sequential Manipulation in Cluttered Environments
by: Eze, Chrisantus, et al.
Published: (2026)

DexterCap: An Affordable and Automated System for Capturing Dexterous Hand-Object Manipulation
by: Liang, Yutong, et al.
Published: (2026)

Sim2Sea: Sim-to-Real Policy Transfer for Maritime Vessel Navigation in Congested Waters
by: Cui, Xinyu, et al.
Published: (2026)

Object-Centric Dexterous Manipulation from Human Motion Data
by: Chen, Yuanpei, et al.
Published: (2024)

REALM: A Real-to-Sim Validated Benchmark for Generalization in Robotic Manipulation
by: Sedlacek, Martin, et al.
Published: (2025)

Zero-Shot Sim-to-Real Robot Learning: A Dexterous Manipulation Study on Reactive Catching
by: Ren, Kejia, et al.
Published: (2026)

Learning Dexterous Object Handover
by: Frau-Alfaro, Daniel, et al.
Published: (2025)

Failure Forecasting Boosts Robustness of Sim2Real Rhythmic Insertion Policies
by: Liu, Yuhan, et al.
Published: (2025)

FAR-Dex: Few-shot Data Augmentation and Adaptive Residual Policy Refinement for Dexterous Manipulation
by: Bai, Yushan, et al.
Published: (2026)

InteRACT: Transformer Models for Human Intent Prediction Conditioned on Robot Actions
by: Kedia, Kushal, et al.
Published: (2023)

Generalizable Domain Adaptation for Sim-and-Real Policy Co-Training
by: Cheng, Shuo, et al.
Published: (2025)

Contact Coverage-Guided Exploration for General-Purpose Dexterous Manipulation
by: Liu, Zixuan, et al.
Published: (2026)

Empirical Analysis of Sim-and-Real Cotraining of Diffusion Policies for Planar Pushing from Pixels
by: Wei, Adam, et al.
Published: (2025)

DexForce: Extracting Force-informed Actions from Kinesthetic Demonstrations for Dexterous Manipulation
by: Chen, Claire, et al.
Published: (2025)